From 3f121590ca3597e68c6bed9f642b7a966451b398 Mon Sep 17 00:00:00 2001 From: Ann Date: Thu, 2 Feb 2023 20:09:48 -0500 Subject: [PATCH 01/12] generated auto routines from trajectory json --- autonomous/generate_routine.py | 27 + .../routines/routine_1/auto_routine.json | 2646 +++++++++++++++++ .../routines/routine_1/trajectory_1.json | 857 ++++++ .../routines/routine_1/trajectory_2.json | 1787 +++++++++++ .../routines/routine_2/auto_routine.json | 2646 +++++++++++++++++ .../routines/routine_2/trajectory_1.json | 857 ++++++ .../routines/routine_2/trajectory_2.json | 1787 +++++++++++ 7 files changed, 10607 insertions(+) create mode 100644 autonomous/generate_routine.py create mode 100644 autonomous/routines/routine_1/auto_routine.json create mode 100644 autonomous/routines/routine_1/trajectory_1.json create mode 100644 autonomous/routines/routine_1/trajectory_2.json create mode 100644 autonomous/routines/routine_2/auto_routine.json create mode 100644 autonomous/routines/routine_2/trajectory_1.json create mode 100644 autonomous/routines/routine_2/trajectory_2.json diff --git a/autonomous/generate_routine.py b/autonomous/generate_routine.py new file mode 100644 index 0000000..e7c380c --- /dev/null +++ b/autonomous/generate_routine.py @@ -0,0 +1,27 @@ +import os +import json + +auto_folder_path = "./autonomous/routines/" + +def generate_routine(routines): + for routine in routines: + output = {} + folder_path = os.path.join(auto_folder_path, routine) + + path_number = 1 + + for file in os.listdir(folder_path): + # ignore auto_routine.json when finding trajectories + if file == "auto_routine.json": + continue + + file_path = os.path.join(folder_path, file) + + with open(file_path, "r") as json_file: + path = json.load(json_file) + output["trajectory_" + str(path_number)] = path + + path_number += 1 + + with open(auto_folder_path + routine + "/auto_routine.json", "w") as auto_routine: + json.dump(output, auto_routine, indent=4) \ No newline at end of file diff --git a/autonomous/routines/routine_1/auto_routine.json b/autonomous/routines/routine_1/auto_routine.json new file mode 100644 index 0000000..ea9c624 --- /dev/null +++ b/autonomous/routines/routine_1/auto_routine.json @@ -0,0 +1,2646 @@ +{ + "trajectory_1": [ + { + "acceleration": 2.0000000000000004, + "curvature": 2.3809523809523814, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 0.0, + "y": 0.0 + } + }, + "time": 0.0, + "velocity": 0.0 + }, + { + "acceleration": 2.000000000000001, + "curvature": 2.595325966847042, + "pose": { + "rotation": { + "radians": 0.06460283167616494 + }, + "translation": { + "x": 0.025940628160620836, + "y": 0.0008261544363839286 + } + }, + "time": 0.1611017705266734, + "velocity": 0.32220354105334686 + }, + { + "acceleration": 1.999999999999999, + "curvature": 2.787492742305355, + "pose": { + "rotation": { + "radians": 0.13177918578963022 + }, + "translation": { + "x": 0.05075989329538541, + "y": 0.003261021205357143 + } + }, + "time": 0.22559298431162372, + "velocity": 0.45118596862324756 + }, + { + "acceleration": 2.0, + "curvature": 2.9449252494021136, + "pose": { + "rotation": { + "radians": 0.20086675304867105 + }, + "translation": { + "x": 0.07450337926713341, + "y": 0.007239205496651787 + } + }, + "time": 0.27380037105598976, + "velocity": 0.5476007421119795 + }, + { + "acceleration": 2.0000000000000013, + "curvature": 3.0563610293310313, + "pose": { + "rotation": { + "radians": 0.271067404114427 + }, + "translation": { + "x": 0.09721666993870451, + "y": 0.0126953125 + } + }, + "time": 0.3135698756503563, + "velocity": 0.6271397513007126 + }, + { + "acceleration": 2.0000000000000013, + "curvature": 3.1135922042633504, + "pose": { + "rotation": { + "radians": 0.34148963883778916 + }, + "translation": { + "x": 0.11894534917293839, + "y": 0.01956394740513393 + } + }, + "time": 0.34801511627663584, + "velocity": 0.6960302325532717 + }, + { + "acceleration": 2.0, + "curvature": 3.112845373687687, + "pose": { + "rotation": { + "radians": 0.4112057410202867 + }, + "translation": { + "x": 0.13973500083267476, + "y": 0.02777971540178572 + } + }, + "time": 0.3787725979355451, + "velocity": 0.7575451958710901 + }, + { + "acceleration": 2.0, + "curvature": 3.055332259900253, + "pose": { + "rotation": { + "radians": 0.4793147718377678 + }, + "translation": { + "x": 0.15963120878075332, + "y": 0.0372772216796875 + } + }, + "time": 0.4068359476982932, + "velocity": 0.8136718953965864 + }, + { + "acceleration": 2.0, + "curvature": 2.9468175976334776, + "pose": { + "rotation": { + "radians": 0.5450007702314661 + }, + "translation": { + "x": 0.1786795568800137, + "y": 0.04799107142857143 + } + }, + "time": 0.43286273556068766, + "velocity": 0.8657254711213753 + }, + { + "acceleration": 2.0000000000000027, + "curvature": 2.796384020129445, + "pose": { + "rotation": { + "radians": 0.6075769725261475 + }, + "translation": { + "x": 0.19692562899329563, + "y": 0.059855869838169644 + } + }, + "time": 0.45731239630972664, + "velocity": 0.9146247926194533 + }, + { + "acceleration": 1.749932129781575, + "curvature": 2.6148056057208007, + "pose": { + "rotation": { + "radians": 0.666510847769103 + }, + "translation": { + "x": 0.21441500898343874, + "y": 0.07280622209821429 + } + }, + "time": 0.48051717108354774, + "velocity": 0.9610343421670956 + }, + { + "acceleration": 0.0, + "curvature": 2.4129782382963043, + "pose": { + "rotation": { + "radians": 0.7214295479787702 + }, + "translation": { + "x": 0.23119328071328277, + "y": 0.0867767333984375 + } + }, + "time": 0.5027841248526451, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 2.2007240886301007, + "pose": { + "rotation": { + "radians": 0.7721092401780296 + }, + "translation": { + "x": 0.24730602804566743, + "y": 0.10170200892857144 + } + }, + "time": 0.524747377713906, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.9860923592042752, + "pose": { + "rotation": { + "radians": 0.8184537703343066 + }, + "translation": { + "x": 0.26279883484343236, + "y": 0.11751665387834821 + } + }, + "time": 0.5468862588365004, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.7751158042945765, + "pose": { + "rotation": { + "radians": 0.8604682380066073 + }, + "translation": { + "x": 0.2777172849694172, + "y": 0.1341552734375 + } + }, + "time": 0.5692336035332577, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.378877735802265, + "pose": { + "rotation": { + "radians": 0.9318738882940065 + }, + "translation": { + "x": 0.3060134506574056, + "y": 0.16964285714285715 + } + }, + "time": 0.6146212845699313, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.0269790123916365, + "pose": { + "rotation": { + "radians": 0.9874352146007722 + }, + "translation": { + "x": 0.33255919601235007, + "y": 0.2076416015625 + } + }, + "time": 0.6609740749273509, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.7184011472705635, + "pose": { + "rotation": { + "radians": 1.028489463266511 + }, + "translation": { + "x": 0.357719191936968, + "y": 0.24762834821428573 + } + }, + "time": 0.7082177549567569, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.1930851987713053, + "pose": { + "rotation": { + "radians": 1.0716201459130537 + }, + "translation": { + "x": 0.40534061910609465, + "y": 0.3314732142857143 + } + }, + "time": 0.8046426578198671, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2916630807647434, + "pose": { + "rotation": { + "radians": 1.0669149846908788 + }, + "translation": { + "x": 0.4517950993865254, + "y": 0.41699218749999994 + } + }, + "time": 0.9019643589853864, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.837092751266262, + "pose": { + "rotation": { + "radians": 1.0137255642722038 + }, + "translation": { + "x": 0.5, + "y": 0.5 + } + }, + "time": 0.9979539906087557, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.800067132725784, + "pose": { + "rotation": { + "radians": 0.9371365584178165 + }, + "translation": { + "x": 0.5522892147239105, + "y": 0.5771484375 + } + }, + "time": 1.0911529358020067, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.7305970666123351, + "pose": { + "rotation": { + "radians": 0.8673303065438499 + }, + "translation": { + "x": 0.6086627435582567, + "y": 0.6484375 + } + }, + "time": 1.1820380566159538, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6353268212231772, + "pose": { + "rotation": { + "radians": 0.8061523795916493 + }, + "translation": { + "x": 0.6685371130586908, + "y": 0.7147042410714286 + } + }, + "time": 1.2713477486728761, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.521996158571609, + "pose": { + "rotation": { + "radians": 0.7549381802864602 + }, + "translation": { + "x": 0.7313288497808648, + "y": 0.7767857142857143 + } + }, + "time": 1.3596478705133521, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3975528759100238, + "pose": { + "rotation": { + "radians": 0.7145498145006239 + }, + "translation": { + "x": 0.7964544802804306, + "y": 0.8355189732142857 + } + }, + "time": 1.4473458947347484, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2671592856148399, + "pose": { + "rotation": { + "radians": 0.6854795494256645 + }, + "translation": { + "x": 0.8633305311130404, + "y": 0.8917410714285714 + } + }, + "time": 1.5347148280153062, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.13405818704189948, + "pose": { + "rotation": { + "radians": 0.6679716319317236 + }, + "translation": { + "x": 0.9313735288343461, + "y": 0.9462890625 + } + }, + "time": 1.6219233876228945, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.0, + "pose": { + "rotation": { + "radians": 0.6621270389708964 + }, + "translation": { + "x": 0.9999999999999999, + "y": 1.0 + } + }, + "time": 1.7090695714279196, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.13405818704189962, + "pose": { + "rotation": { + "radians": 0.6679716319317235 + }, + "translation": { + "x": 1.0686264711656537, + "y": 1.0537109375 + } + }, + "time": 1.7962157552329447, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.2671592856148402, + "pose": { + "rotation": { + "radians": 0.6854795494256642 + }, + "translation": { + "x": 1.1366694688869594, + "y": 1.1082589285714286 + } + }, + "time": 1.883424314840533, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3975528759100245, + "pose": { + "rotation": { + "radians": 0.7145498145006239 + }, + "translation": { + "x": 1.2035455197195692, + "y": 1.1644810267857144 + } + }, + "time": 1.970793248121091, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.52199615857161, + "pose": { + "rotation": { + "radians": 0.7549381802864603 + }, + "translation": { + "x": 1.2686711502191352, + "y": 1.2232142857142858 + } + }, + "time": 2.0584912723424873, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6353268212231779, + "pose": { + "rotation": { + "radians": 0.8061523795916495 + }, + "translation": { + "x": 1.3314628869413092, + "y": 1.2852957589285716 + } + }, + "time": 2.146791394182963, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.7305970666123357, + "pose": { + "rotation": { + "radians": 0.8673303065438502 + }, + "translation": { + "x": 1.3913372564417432, + "y": 1.3515625 + } + }, + "time": 2.236101086239885, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.8000671327257849, + "pose": { + "rotation": { + "radians": 0.937136558417817 + }, + "translation": { + "x": 1.4477107852760895, + "y": 1.4228515625 + } + }, + "time": 2.3269862070538325, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.8370927512662617, + "pose": { + "rotation": { + "radians": 1.0137255642722043 + }, + "translation": { + "x": 1.5, + "y": 1.5000000000000002 + } + }, + "time": 2.420185152247084, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.2916630807647438, + "pose": { + "rotation": { + "radians": 1.0669149846908788 + }, + "translation": { + "x": 1.5482049006134746, + "y": 1.5830078125 + } + }, + "time": 2.516174783870453, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.1930851987713047, + "pose": { + "rotation": { + "radians": 1.0716201459130534 + }, + "translation": { + "x": 1.5946593808939054, + "y": 1.6685267857142856 + } + }, + "time": 2.6134964850359723, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.7184011472705635, + "pose": { + "rotation": { + "radians": 1.028489463266511 + }, + "translation": { + "x": 1.642280808063032, + "y": 1.7523716517857144 + } + }, + "time": 2.7099213878990827, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.0269790123916358, + "pose": { + "rotation": { + "radians": 0.9874352146007725 + }, + "translation": { + "x": 1.6674408039876498, + "y": 1.7923583984375 + } + }, + "time": 2.7571650679284883, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.378877735802265, + "pose": { + "rotation": { + "radians": 0.9318738882940066 + }, + "translation": { + "x": 1.6939865493425943, + "y": 1.8303571428571428 + } + }, + "time": 2.803517858285908, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.7751158042945763, + "pose": { + "rotation": { + "radians": 0.8604682380066074 + }, + "translation": { + "x": 1.7222827150305826, + "y": 1.8658447265625 + } + }, + "time": 2.8489055393225815, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.9860923592042752, + "pose": { + "rotation": { + "radians": 0.8184537703343068 + }, + "translation": { + "x": 1.7372011651565675, + "y": 1.882483346121652 + } + }, + "time": 2.8712528840193388, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -2.2007240886301, + "pose": { + "rotation": { + "radians": 0.7721092401780295 + }, + "translation": { + "x": 1.7526939719543324, + "y": 1.8982979910714286 + } + }, + "time": 2.893391765141933, + "velocity": 1.0 + }, + { + "acceleration": -1.7499321297815522, + "curvature": -2.4129782382963048, + "pose": { + "rotation": { + "radians": 0.7214295479787705 + }, + "translation": { + "x": 1.7688067192867172, + "y": 1.9132232666015625 + } + }, + "time": 2.915355018003194, + "velocity": 1.0 + }, + { + "acceleration": -2.0000000000000027, + "curvature": -2.6148056057208007, + "pose": { + "rotation": { + "radians": 0.6665108477691031 + }, + "translation": { + "x": 1.7855849910165613, + "y": 1.9271937779017858 + } + }, + "time": 2.9376219717722916, + "velocity": 0.9610343421670957 + }, + { + "acceleration": -2.0, + "curvature": -2.796384020129447, + "pose": { + "rotation": { + "radians": 0.6075769725261476 + }, + "translation": { + "x": 1.8030743710067043, + "y": 1.9401441301618303 + } + }, + "time": 2.9608267465461124, + "velocity": 0.9146247926194542 + }, + { + "acceleration": -2.0, + "curvature": -2.946817597633479, + "pose": { + "rotation": { + "radians": 0.5450007702314662 + }, + "translation": { + "x": 1.821320443119986, + "y": 1.9520089285714286 + } + }, + "time": 2.985276407295151, + "velocity": 0.8657254711213762 + }, + { + "acceleration": -2.0000000000000027, + "curvature": -3.055332259900255, + "pose": { + "rotation": { + "radians": 0.479314771837768 + }, + "translation": { + "x": 1.8403687912192466, + "y": 1.9627227783203125 + } + }, + "time": 3.011303195157546, + "velocity": 0.8136718953965866 + }, + { + "acceleration": -2.0, + "curvature": -3.1128453736876884, + "pose": { + "rotation": { + "radians": 0.41120574102028656 + }, + "translation": { + "x": 1.8602649991673252, + "y": 1.9722202845982142 + } + }, + "time": 3.0393665449202945, + "velocity": 0.7575451958710898 + }, + { + "acceleration": -2.0000000000000013, + "curvature": -3.1135922042633504, + "pose": { + "rotation": { + "radians": 0.34148963883778904 + }, + "translation": { + "x": 1.8810546508270616, + "y": 1.9804360525948659 + } + }, + "time": 3.070124026579204, + "velocity": 0.696030232553271 + }, + { + "acceleration": -1.999999999999999, + "curvature": -3.056361029331032, + "pose": { + "rotation": { + "radians": 0.27106740411442715 + }, + "translation": { + "x": 1.9027833300612955, + "y": 1.9873046875 + } + }, + "time": 3.1045692672054837, + "velocity": 0.6271397513007115 + }, + { + "acceleration": -2.0, + "curvature": -2.9449252494021136, + "pose": { + "rotation": { + "radians": 0.20086675304867097 + }, + "translation": { + "x": 1.9254966207328665, + "y": 1.992760794503348 + } + }, + "time": 3.1443387717998506, + "velocity": 0.547600742111978 + }, + { + "acceleration": -1.9999999999999998, + "curvature": -2.7874927423053566, + "pose": { + "rotation": { + "radians": 0.13177918578963033 + }, + "translation": { + "x": 1.9492401067046146, + "y": 1.9967389787946428 + } + }, + "time": 3.1925461585442165, + "velocity": 0.45118596862324617 + }, + { + "acceleration": -2.0000000000000004, + "curvature": -2.595325966847042, + "pose": { + "rotation": { + "radians": 0.06460283167616503 + }, + "translation": { + "x": 1.974059371839379, + "y": 1.999173845563616 + } + }, + "time": 3.2570373723291666, + "velocity": 0.3222035410533462 + }, + { + "acceleration": -2.0000000000000004, + "curvature": -2.380952380952382, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 2.0, + "y": 2.0 + } + }, + "time": 3.4181391428558396, + "velocity": 0.0 + } + ], + "trajectory_2": [ + { + "acceleration": 2.0, + "curvature": -2.3809523809523814, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 2.0, + "y": 2.0 + } + }, + "time": 0.0, + "velocity": 0.0 + }, + { + "acceleration": 2.0, + "curvature": -3.925076886398501, + "pose": { + "rotation": { + "radians": -0.07417082549076623 + }, + "translation": { + "x": 2.024288319287853, + "y": 1.999173845563616 + } + }, + "time": 0.1558921609028255, + "velocity": 0.311784321805651 + }, + { + "acceleration": 2.0, + "curvature": -5.153442078046409, + "pose": { + "rotation": { + "radians": -0.1216295798723478 + }, + "translation": { + "x": 2.0347944102049302, + "y": 1.9981534140450614 + } + }, + "time": 0.1867026953718375, + "velocity": 0.373405390743675 + }, + { + "acceleration": 2.0, + "curvature": -6.870865431187638, + "pose": { + "rotation": { + "radians": -0.17844137117241632 + }, + "translation": { + "x": 2.044237850884671, + "y": 1.9967389787946428 + } + }, + "time": 0.210728916930938, + "velocity": 0.421457833861876 + }, + { + "acceleration": 2.0, + "curvature": -9.293401276465815, + "pose": { + "rotation": { + "radians": -0.24712274095231881 + }, + "translation": { + "x": 2.052640688012497, + "y": 1.9949387141636439 + } + }, + "time": 0.23021772015580907, + "velocity": 0.46043544031161815 + }, + { + "acceleration": 2.0, + "curvature": -12.711979997378936, + "pose": { + "rotation": { + "radians": -0.33086402033744444 + }, + "translation": { + "x": 2.06002496827383, + "y": 1.9927607945033483 + } + }, + "time": 0.24637158967525977, + "velocity": 0.49274317935051953 + }, + { + "acceleration": 1.9999999999999918, + "curvature": -14.900181166183526, + "pose": { + "rotation": { + "radians": -0.379561238268197 + }, + "translation": { + "x": 2.063342039168756, + "y": 1.9915327685219901 + } + }, + "time": 0.25344831900442966, + "velocity": 0.5068966380088593 + }, + { + "acceleration": 2.0, + "curvature": -17.459934497401925, + "pose": { + "rotation": { + "radians": -0.4334957798412309 + }, + "translation": { + "x": 2.066412738354092, + "y": 1.990213394165039 + } + }, + "time": 0.25995806729077736, + "velocity": 0.5199161345815547 + }, + { + "acceleration": 1.9999999999999907, + "curvature": -20.414249721574603, + "pose": { + "rotation": { + "radians": -0.49317970616962725 + }, + "translation": { + "x": 2.0692398216655152, + "y": 1.9888036932264055 + } + }, + "time": 0.26596476501154587, + "velocity": 0.5319295300230917 + }, + { + "acceleration": 2.0, + "curvature": -23.75624189265799, + "pose": { + "rotation": { + "radians": -0.5590722011057766 + }, + "translation": { + "x": 2.0718260449387045, + "y": 1.9873046875 + } + }, + "time": 0.27152623894767053, + "velocity": 0.5430524778953411 + }, + { + "acceleration": 1.9999999999999898, + "curvature": -27.428995177461175, + "pose": { + "rotation": { + "radians": -0.6315132855442878 + }, + "translation": { + "x": 2.074174164009337, + "y": 1.9857173987797327 + } + }, + "time": 0.2766961861196231, + "velocity": 0.5533923722392462 + }, + { + "acceleration": 2.0, + "curvature": -31.303118282225075, + "pose": { + "rotation": { + "radians": -0.7106357578709409 + }, + "translation": { + "x": 2.07628693471309, + "y": 1.9840428488595145 + } + }, + "time": 0.2815256417387766, + "velocity": 0.5630512834775532 + }, + { + "acceleration": 2.000000000000022, + "curvature": -35.159645706609, + "pose": { + "rotation": { + "radians": -0.7962620588663979 + }, + "translation": { + "x": 2.0781671128856423, + "y": 1.9822820595332555 + } + }, + "time": 0.2860640199107224, + "velocity": 0.5721280398214448 + }, + { + "acceleration": 2.0, + "curvature": -36.988059436663285, + "pose": { + "rotation": { + "radians": -0.8413486868007399 + }, + "translation": { + "x": 2.079020840971367, + "y": 1.9813696444034576 + } + }, + "time": 0.2882397693043589, + "velocity": 0.5764795386087178 + }, + { + "acceleration": 1.9999999999999771, + "curvature": -38.6911944765433, + "pose": { + "rotation": { + "radians": -0.8878044495372119 + }, + "translation": { + "x": 2.0798174543626704, + "y": 1.980436052594866 + } + }, + "time": 0.2903608660509362, + "velocity": 0.5807217321018724 + }, + { + "acceleration": 2.000000000000023, + "curvature": -40.22229122406195, + "pose": { + "rotation": { + "radians": -0.9354809737665283 + }, + "translation": { + "x": 2.0805572975390128, + "y": 1.9794814118317194 + } + }, + "time": 0.2924332435431329, + "velocity": 0.5848664870862658 + }, + { + "acceleration": 1.9999999999999765, + "curvature": -41.535343553644125, + "pose": { + "rotation": { + "radians": -0.9841997802056122 + }, + "translation": { + "x": 2.0812407149798533, + "y": 1.9785058498382568 + } + }, + "time": 0.2944627781228363, + "velocity": 0.5889255562456726 + }, + { + "acceleration": 2.000000000000024, + "curvature": -42.588028498451095, + "pose": { + "rotation": { + "radians": -1.033754720859844 + }, + "translation": { + "x": 2.0818680511646517, + "y": 1.9775094943387168 + } + }, + "time": 0.29645527400899585, + "velocity": 0.5929105480179917 + }, + { + "acceleration": 2.0, + "curvature": -43.344736375148244, + "pose": { + "rotation": { + "radians": -1.0839161025726805 + }, + "translation": { + "x": 2.0824396505728675, + "y": 1.976492473057338 + } + }, + "time": 0.29841644302091386, + "velocity": 0.5968328860418277 + }, + { + "acceleration": 2.000000000000024, + "curvature": -43.77933999343355, + "pose": { + "rotation": { + "radians": -1.1344363808123423 + }, + "translation": { + "x": 2.0829558576839613, + "y": 1.97545491371836 + } + }, + "time": 0.30035188008864977, + "velocity": 0.6007037601772995 + }, + { + "acceleration": 1.999999999999976, + "curvature": -43.87733008467971, + "pose": { + "rotation": { + "radians": -1.1850571236540004 + }, + "translation": { + "x": 2.083417016977392, + "y": 1.9743969440460205 + } + }, + "time": 0.3022670358018074, + "velocity": 0.6045340716036148 + }, + { + "acceleration": 1.999999999999976, + "curvature": -43.637007519940035, + "pose": { + "rotation": { + "radians": -1.2355167832596747 + }, + "translation": { + "x": 2.0838234729326195, + "y": 1.973318691764559 + } + }, + "time": 0.30416718743806354, + "velocity": 0.6083343748761271 + }, + { + "acceleration": 2.0, + "curvature": -43.06955490658779, + "pose": { + "rotation": { + "radians": -1.2855587029566673 + }, + "translation": { + "x": 2.084175570029103, + "y": 1.9722202845982142 + } + }, + "time": 0.3060574100002201, + "velocity": 0.6121148200004402 + }, + { + "acceleration": 2.0, + "curvature": -42.197983172692034, + "pose": { + "rotation": { + "radians": -1.334938755353409 + }, + "translation": { + "x": 2.0844736527463037, + "y": 1.971101850271225 + } + }, + "time": 0.3079425487564216, + "velocity": 0.6158850975128431 + }, + { + "acceleration": 2.0, + "curvature": -41.0551217892863, + "pose": { + "rotation": { + "radians": -1.3834320579244797 + }, + "translation": { + "x": 2.08471806556368, + "y": 1.96996351650783 + } + }, + "time": 0.3098271946224532, + "velocity": 0.6196543892449063 + }, + { + "acceleration": 1.9999999999999767, + "curvature": -39.680953596252024, + "pose": { + "rotation": { + "radians": -1.4308383360767614 + }, + "translation": { + "x": 2.0849091529606922, + "y": 1.968805411032268 + } + }, + "time": 0.3117156634668311, + "velocity": 0.6234313269336622 + }, + { + "acceleration": 2.000000000000023, + "curvature": -38.11965972183801, + "pose": { + "rotation": { + "radians": -1.4769856740539584 + }, + "translation": { + "x": 2.0850472594167995, + "y": 1.967627661568778 + } + }, + "time": 0.31361198009273245, + "velocity": 0.6272239601854649 + }, + { + "acceleration": 2.0, + "curvature": -36.41673084842611, + "pose": { + "rotation": { + "radians": -1.5217325782212117 + }, + "translation": { + "x": 2.085132729411462, + "y": 1.9664303958415985 + } + }, + "time": 0.3155198672972044, + "velocity": 0.6310397345944088 + }, + { + "acceleration": 1.999999999999989, + "curvature": -34.61643207697982, + "pose": { + "rotation": { + "radians": -1.5649684441271747 + }, + "translation": { + "x": 2.0851659074241398, + "y": 1.9652137415749686 + } + }, + "time": 0.31744274006814643, + "velocity": 0.6348854801362929 + }, + { + "acceleration": 1.9999999999999893, + "curvature": -30.8832900836345, + "pose": { + "rotation": { + "radians": -1.646612542816186 + }, + "translation": { + "x": 2.085076765421378, + "y": 1.9627227783203125 + } + }, + "time": 0.3213447541055456, + "velocity": 0.6426895082110912 + }, + { + "acceleration": 2.0, + "curvature": -27.189129255565312, + "pose": { + "rotation": { + "radians": -1.721591821579909 + }, + "translation": { + "x": 2.084782589244193, + "y": 1.96015579359872 + } + }, + "time": 0.32534018658725694, + "velocity": 0.6506803731745139 + }, + { + "acceleration": 1.99999999999999, + "curvature": -23.715608877026064, + "pose": { + "rotation": { + "radians": -1.7899311131774194 + }, + "translation": { + "x": 2.0842861347282615, + "y": 1.9575138092041016 + } + }, + "time": 0.32944568759418175, + "velocity": 0.6588913751883635 + }, + { + "acceleration": 1.9999999999999905, + "curvature": -20.564297760595313, + "pose": { + "rotation": { + "radians": -1.8519014546201618 + }, + "translation": { + "x": 2.0835901577092613, + "y": 1.9547978469303675 + } + }, + "time": 0.33367376156419803, + "velocity": 0.6673475231283961 + }, + { + "acceleration": 2.000000000000009, + "curvature": -17.77561362662137, + "pose": { + "rotation": { + "radians": -1.9079248174526673 + }, + "translation": { + "x": 2.0826974140228707, + "y": 1.9520089285714286 + } + }, + "time": 0.33803328085436823, + "velocity": 0.6760665617087365 + }, + { + "acceleration": 1.9999999999999913, + "curvature": -15.34939194805936, + "pose": { + "rotation": { + "radians": -1.9584991400142502 + }, + "translation": { + "x": 2.081610659504767, + "y": 1.949148075921195 + } + }, + "time": 0.3425300155823549, + "velocity": 0.6850600311647098 + }, + { + "acceleration": 2.000000000000004, + "curvature": -13.261968099207705, + "pose": { + "rotation": { + "radians": -2.0041453198490715 + }, + "translation": { + "x": 2.0803326499906283, + "y": 1.946216310773577 + } + }, + "time": 0.3471671396096597, + "velocity": 0.6943342792193195 + }, + { + "acceleration": 2.0, + "curvature": -9.960064242378673, + "pose": { + "rotation": { + "radians": -2.0826612981087287 + }, + "translation": { + "x": 2.0772138893169565, + "y": 1.9401441301618303 + } + }, + "time": 0.35686313753891696, + "velocity": 0.7137262750778339 + }, + { + "acceleration": 2.0, + "curvature": -7.572271287540442, + "pose": { + "rotation": { + "radians": -2.1471266820536146 + }, + "translation": { + "x": 2.073363178687276, + "y": 1.933800561087472 + } + }, + "time": 0.36711324850246235, + "velocity": 0.7342264970049247 + }, + { + "acceleration": 2.0, + "curvature": -5.841092214253132, + "pose": { + "rotation": { + "radians": -2.2005194053603585 + }, + "translation": { + "x": 2.0688025647870103, + "y": 1.9271937779017858 + } + }, + "time": 0.3778890540579677, + "velocity": 0.7557781081159354 + }, + { + "acceleration": 2.0, + "curvature": -3.6335580164415155, + "pose": { + "rotation": { + "radians": -2.2828580802251603 + }, + "translation": { + "x": 2.0576398139164076, + "y": 1.9132232666015625 + } + }, + "time": 0.4008523319995877, + "velocity": 0.8017046639991754 + }, + { + "acceleration": 1.999999999999999, + "curvature": -2.3859297141582525, + "pose": { + "rotation": { + "radians": -2.3425427551974622 + }, + "translation": { + "x": 2.0439020101885244, + "y": 1.8982979910714286 + } + }, + "time": 0.4254031446723092, + "velocity": 0.8508062893446184 + }, + { + "acceleration": 0.7808367222958948, + "curvature": -1.168289411927801, + "pose": { + "rotation": { + "radians": -2.421478774741803 + }, + "translation": { + "x": 2.009406738094417, + "y": 1.8658447265625 + } + }, + "time": 0.47783848230722326, + "velocity": 0.9556769646144465 + }, + { + "acceleration": 0.0, + "curvature": -0.6431002814234164, + "pose": { + "rotation": { + "radians": -2.4696243980699735 + }, + "translation": { + "x": 1.9667277363716913, + "y": 1.8303571428571428 + } + }, + "time": 0.5346019952414388, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3779012277135409, + "pose": { + "rotation": { + "radians": -2.5004899928645394 + }, + "translation": { + "x": 1.91727599288735, + "y": 1.7923583984375 + } + }, + "time": 0.5969668852927363, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.22532033615872268, + "pose": { + "rotation": { + "radians": -2.520473960338245 + }, + "translation": { + "x": 1.8624624955083964, + "y": 1.7523716517857142 + } + }, + "time": 0.6648156833860457, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.1259503451160458, + "pose": { + "rotation": { + "radians": -2.5328615989649164 + }, + "translation": { + "x": 1.803698232101834, + "y": 1.7109200613839286 + } + }, + "time": 0.7367286377166338, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.05185978219205503, + "pose": { + "rotation": { + "radians": -2.539376314483957 + }, + "translation": { + "x": 1.7423941905346658, + "y": 1.6685267857142856 + } + }, + "time": 0.8112630279970368, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.012741582075827209, + "pose": { + "rotation": { + "radians": -2.540833425387097 + }, + "translation": { + "x": 1.679961358673895, + "y": 1.6257149832589286 + } + }, + "time": 0.8869644739781525, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.07962494904972009, + "pose": { + "rotation": { + "radians": -2.5374069641008212 + }, + "translation": { + "x": 1.617810724386525, + "y": 1.5830078125 + } + }, + "time": 0.9623740474854646, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.16149941110125976, + "pose": { + "rotation": { + "radians": -2.5286828834769617 + }, + "translation": { + "x": 1.557353275539559, + "y": 1.5409284319196428 + } + }, + "time": 1.0360339238844247, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.27767872853960485, + "pose": { + "rotation": { + "radians": -2.5135302822409846 + }, + "translation": { + "x": 1.4999999999999996, + "y": 1.5 + } + }, + "time": 1.1064933785694948, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3190043061414333, + "pose": { + "rotation": { + "radians": -2.493845124623491 + }, + "translation": { + "x": 1.4468796880614505, + "y": 1.4606410435267858 + } + }, + "time": 1.172606123143511, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3644631920280974, + "pose": { + "rotation": { + "radians": -2.4727646530940817 + }, + "translation": { + "x": 1.3979923397239105, + "y": 1.4228515625 + } + }, + "time": 1.2343962332239258, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.4641994068544357, + "pose": { + "rotation": { + "radians": -2.426610188308126 + }, + "translation": { + "x": 1.3117877435582568, + "y": 1.3515625 + } + }, + "time": 1.3462593765384794, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.5623714732537684, + "pose": { + "rotation": { + "radians": -2.376121674237115 + }, + "translation": { + "x": 1.2391286309158336, + "y": 1.2852957589285714 + } + }, + "time": 1.4445987258459265, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6302381313589197, + "pose": { + "rotation": { + "radians": -2.3237592010084906 + }, + "translation": { + "x": 1.1777574212094364, + "y": 1.2232142857142856 + } + }, + "time": 1.5318943998354357, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6275740592678156, + "pose": { + "rotation": { + "radians": -2.273676363647106 + }, + "translation": { + "x": 1.1254165338518594, + "y": 1.1644810267857144 + } + }, + "time": 1.6105656410468794, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.5184108857125409, + "pose": { + "rotation": { + "radians": -2.231450857835951 + }, + "translation": { + "x": 1.0798483882558978, + "y": 1.1082589285714286 + } + }, + "time": 1.68293538763115, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.29618604794063763, + "pose": { + "rotation": { + "radians": -2.203006515292095 + }, + "translation": { + "x": 1.0387954038343463, + "y": 1.0537109375 + } + }, + "time": 1.751205665643216, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 3.8924307326238546e-15, + "pose": { + "rotation": { + "radians": -2.1929446786425015 + }, + "translation": { + "x": 1.0000000000000002, + "y": 1.0 + } + }, + "time": 1.817462349576227, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2961860479406326, + "pose": { + "rotation": { + "radians": -2.203006515292096 + }, + "translation": { + "x": 0.9612045961656538, + "y": 0.9462890625 + } + }, + "time": 1.883719033509238, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.5184108857125374, + "pose": { + "rotation": { + "radians": -2.2314508578359513 + }, + "translation": { + "x": 0.9201516117441024, + "y": 0.8917410714285714 + } + }, + "time": 1.951989311521304, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6275740592678127, + "pose": { + "rotation": { + "radians": -2.2736763636471062 + }, + "translation": { + "x": 0.8745834661481408, + "y": 0.8355189732142857 + } + }, + "time": 2.0243590581055746, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6302381313589182, + "pose": { + "rotation": { + "radians": -2.3237592010084906 + }, + "translation": { + "x": 0.8222425787905638, + "y": 0.7767857142857143 + } + }, + "time": 2.1030302993170182, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.5623714732537682, + "pose": { + "rotation": { + "radians": -2.3761216742371145 + }, + "translation": { + "x": 0.7608713690841664, + "y": 0.7147042410714286 + } + }, + "time": 2.1903259733065275, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.4641994068544356, + "pose": { + "rotation": { + "radians": -2.426610188308126 + }, + "translation": { + "x": 0.6882122564417434, + "y": 0.6484375 + } + }, + "time": 2.2886653226139746, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3644631920280975, + "pose": { + "rotation": { + "radians": -2.4727646530940817 + }, + "translation": { + "x": 0.6020076602760897, + "y": 0.5771484375 + } + }, + "time": 2.400528465928528, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.31900430614143327, + "pose": { + "rotation": { + "radians": -2.493845124623491 + }, + "translation": { + "x": 0.5531203119385497, + "y": 0.5393589564732143 + } + }, + "time": 2.462318576008943, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2776787285396064, + "pose": { + "rotation": { + "radians": -2.513530282240984 + }, + "translation": { + "x": 0.5000000000000001, + "y": 0.5 + } + }, + "time": 2.52843132058296, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.16149941110126012, + "pose": { + "rotation": { + "radians": -2.5286828834769617 + }, + "translation": { + "x": 0.44264672446044084, + "y": 0.45907156808035715 + } + }, + "time": 2.59889077526803, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.07962494904972045, + "pose": { + "rotation": { + "radians": -2.537406964100821 + }, + "translation": { + "x": 0.3821892756134746, + "y": 0.4169921875 + } + }, + "time": 2.6725506516669904, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.012741582075827595, + "pose": { + "rotation": { + "radians": -2.5408334253870968 + }, + "translation": { + "x": 0.32003864132610454, + "y": 0.3742850167410714 + } + }, + "time": 2.7479602251743023, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.05185978219205491, + "pose": { + "rotation": { + "radians": -2.539376314483957 + }, + "translation": { + "x": 0.25760580946533385, + "y": 0.3314732142857143 + } + }, + "time": 2.823661671155418, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.12595034511604572, + "pose": { + "rotation": { + "radians": -2.532861598964916 + }, + "translation": { + "x": 0.19630176789816578, + "y": 0.28907993861607145 + } + }, + "time": 2.898196061435821, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.22532033615872293, + "pose": { + "rotation": { + "radians": -2.5204739603382444 + }, + "translation": { + "x": 0.13753750449160335, + "y": 0.2476283482142857 + } + }, + "time": 2.970109015766409, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.37790122771354123, + "pose": { + "rotation": { + "radians": -2.500489992864539 + }, + "translation": { + "x": 0.08272400711264993, + "y": 0.2076416015625 + } + }, + "time": 3.0379578138597183, + "velocity": 1.0 + }, + { + "acceleration": -0.7808367222958574, + "curvature": 0.643100281423417, + "pose": { + "rotation": { + "radians": -2.469624398069973 + }, + "translation": { + "x": 0.03327226362830871, + "y": 0.16964285714285715 + } + }, + "time": 3.100322703911016, + "velocity": 1.0 + }, + { + "acceleration": -2.0000000000000013, + "curvature": 1.1682894119278024, + "pose": { + "rotation": { + "radians": -2.4214787747418027 + }, + "translation": { + "x": -0.009406738094417166, + "y": 0.1341552734375 + } + }, + "time": 3.1570862168452316, + "velocity": 0.9556769646144485 + }, + { + "acceleration": -1.9999999999999973, + "curvature": 2.3859297141582556, + "pose": { + "rotation": { + "radians": -2.3425427551974622 + }, + "translation": { + "x": -0.043902010188524576, + "y": 0.10170200892857145 + } + }, + "time": 3.209521554480146, + "velocity": 0.8508062893446202 + }, + { + "acceleration": -2.0, + "curvature": 3.6335580164415213, + "pose": { + "rotation": { + "radians": -2.2828580802251595 + }, + "translation": { + "x": -0.05763981391640782, + "y": 0.0867767333984375 + } + }, + "time": 3.2340723671528675, + "velocity": 0.8017046639991773 + }, + { + "acceleration": -2.0, + "curvature": 5.841092214253137, + "pose": { + "rotation": { + "radians": -2.200519405360358 + }, + "translation": { + "x": -0.06880256478701008, + "y": 0.07280622209821425 + } + }, + "time": 3.2570356450944873, + "velocity": 0.7557781081159377 + }, + { + "acceleration": -1.9999999999999925, + "curvature": 7.5722712875404525, + "pose": { + "rotation": { + "radians": -2.1471266820536137 + }, + "translation": { + "x": -0.07336317868727615, + "y": 0.06619943891252789 + } + }, + "time": 3.267811450649993, + "velocity": 0.7342264970049263 + }, + { + "acceleration": -1.999999999999996, + "curvature": 9.960064242378692, + "pose": { + "rotation": { + "radians": -2.082661298108728 + }, + "translation": { + "x": -0.07721388931695627, + "y": 0.05985586983816965 + } + }, + "time": 3.2780615616135376, + "velocity": 0.7137262750778367 + }, + { + "acceleration": -2.0, + "curvature": 13.261968099207715, + "pose": { + "rotation": { + "radians": -2.004145319849071 + }, + "translation": { + "x": -0.0803326499906285, + "y": 0.05378368922642296 + } + }, + "time": 3.287757559542795, + "velocity": 0.6943342792193219 + }, + { + "acceleration": -1.999999999999991, + "curvature": 15.349391948059386, + "pose": { + "rotation": { + "radians": -1.9584991400142493 + }, + "translation": { + "x": -0.08161065950476731, + "y": 0.05085192407880512 + } + }, + "time": 3.2923946835700995, + "velocity": 0.6850600311647128 + }, + { + "acceleration": -2.0000000000000093, + "curvature": 17.775613626621393, + "pose": { + "rotation": { + "radians": -1.9079248174526666 + }, + "translation": { + "x": -0.0826974140228709, + "y": 0.0479910714285714 + } + }, + "time": 3.2968914182980864, + "velocity": 0.6760665617087386 + }, + { + "acceleration": -2.0, + "curvature": 20.564297760595316, + "pose": { + "rotation": { + "radians": -1.8519014546201613 + }, + "translation": { + "x": -0.08359015770926148, + "y": 0.04520215306963238 + } + }, + "time": 3.3012509375882564, + "velocity": 0.6673475231283984 + }, + { + "acceleration": -2.00000000000001, + "curvature": 23.715608877026085, + "pose": { + "rotation": { + "radians": -1.7899311131774183 + }, + "translation": { + "x": -0.0842861347282613, + "y": 0.04248619079589844 + } + }, + "time": 3.3054790115582726, + "velocity": 0.6588913751883662 + }, + { + "acceleration": -2.0, + "curvature": 27.189129255565305, + "pose": { + "rotation": { + "radians": -1.7215918215799086 + }, + "translation": { + "x": -0.08478258924419291, + "y": 0.03984420640127995 + } + }, + "time": 3.3095845125651975, + "velocity": 0.6506803731745161 + }, + { + "acceleration": -2.0, + "curvature": 30.883290083634527, + "pose": { + "rotation": { + "radians": -1.6466125428161849 + }, + "translation": { + "x": -0.08507676542137821, + "y": 0.0372772216796875 + } + }, + "time": 3.3135799450469086, + "velocity": 0.6426895082110943 + }, + { + "acceleration": -1.9999999999999771, + "curvature": 34.61643207697983, + "pose": { + "rotation": { + "radians": -1.5649684441271745 + }, + "translation": { + "x": -0.08516590742413976, + "y": 0.03478625842503141 + } + }, + "time": 3.317481959084308, + "velocity": 0.634885480136296 + }, + { + "acceleration": -2.0, + "curvature": 36.41673084842612, + "pose": { + "rotation": { + "radians": -1.5217325782212103 + }, + "translation": { + "x": -0.08513272941146222, + "y": 0.033569604158401434 + } + }, + "time": 3.3194048318552505, + "velocity": 0.6310397345944112 + }, + { + "acceleration": -2.0, + "curvature": 38.11965972183798, + "pose": { + "rotation": { + "radians": -1.4769856740539578 + }, + "translation": { + "x": -0.08504725941679958, + "y": 0.03237233843122206 + } + }, + "time": 3.3213127190597223, + "velocity": 0.6272239601854677 + }, + { + "acceleration": -1.9999999999999765, + "curvature": 39.680953596251996, + "pose": { + "rotation": { + "radians": -1.4308383360767607 + }, + "translation": { + "x": -0.08490915296069201, + "y": 0.031194588967731973 + } + }, + "time": 3.323209035685624, + "velocity": 0.6234313269336637 + }, + { + "acceleration": -1.9999999999999762, + "curvature": 41.05512178928634, + "pose": { + "rotation": { + "radians": -1.3834320579244794 + }, + "translation": { + "x": -0.08471806556368011, + "y": 0.03003648349217003 + } + }, + "time": 3.325097504530002, + "velocity": 0.6196543892449078 + }, + { + "acceleration": -1.999999999999976, + "curvature": 42.19798317269199, + "pose": { + "rotation": { + "radians": -1.3349387553534076 + }, + "translation": { + "x": -0.0844736527463037, + "y": 0.028898149728775024 + } + }, + "time": 3.326982150396034, + "velocity": 0.6158850975128444 + }, + { + "acceleration": -2.0, + "curvature": 43.0695549065878, + "pose": { + "rotation": { + "radians": -1.2855587029566669 + }, + "translation": { + "x": -0.08417557002910336, + "y": 0.027779715401785754 + } + }, + "time": 3.3288672891522357, + "velocity": 0.6121148200004412 + }, + { + "acceleration": -2.000000000000024, + "curvature": 43.63700751994001, + "pose": { + "rotation": { + "radians": -1.2355167832596736 + }, + "translation": { + "x": -0.08382347293261927, + "y": 0.026681308235441015 + } + }, + "time": 3.3307575117143924, + "velocity": 0.6083343748761276 + }, + { + "acceleration": -2.0, + "curvature": 43.877330084679706, + "pose": { + "rotation": { + "radians": -1.1850571236540008 + }, + "translation": { + "x": -0.0834170169773919, + "y": 0.025603055953979437 + } + }, + "time": 3.332657663350649, + "velocity": 0.604534071603615 + }, + { + "acceleration": -2.0, + "curvature": 43.77933999343348, + "pose": { + "rotation": { + "radians": -1.1344363808123417 + }, + "translation": { + "x": -0.08295585768396119, + "y": 0.02454508628164015 + } + }, + "time": 3.3345728190638066, + "velocity": 0.6007037601772995 + }, + { + "acceleration": -2.000000000000024, + "curvature": 43.34473637514813, + "pose": { + "rotation": { + "radians": -1.083916102572679 + }, + "translation": { + "x": -0.0824396505728675, + "y": 0.023507526942661783 + } + }, + "time": 3.3365082561315424, + "velocity": 0.5968328860418279 + }, + { + "acceleration": -1.9999999999999765, + "curvature": 42.588028498451074, + "pose": { + "rotation": { + "radians": -1.0337547208598437 + }, + "translation": { + "x": -0.08186805116465157, + "y": 0.02249050566128319 + } + }, + "time": 3.3384694251434603, + "velocity": 0.5929105480179918 + }, + { + "acceleration": -2.000000000000023, + "curvature": 41.53534355364406, + "pose": { + "rotation": { + "radians": -0.9841997802056115 + }, + "translation": { + "x": -0.08124071497985308, + "y": 0.021494150161743164 + } + }, + "time": 3.34046192102962, + "velocity": 0.5889255562456722 + }, + { + "acceleration": -2.000000000000023, + "curvature": 40.22229122406194, + "pose": { + "rotation": { + "radians": -0.935480973766528 + }, + "translation": { + "x": -0.08055729753901275, + "y": 0.020518588168280505 + } + }, + "time": 3.3424914556093235, + "velocity": 0.5848664870862655 + }, + { + "acceleration": -1.9999999999999774, + "curvature": 38.69119447654324, + "pose": { + "rotation": { + "radians": -0.887804449537211 + }, + "translation": { + "x": -0.07981745436267063, + "y": 0.019563947405134008 + } + }, + "time": 3.3445638331015197, + "velocity": 0.5807217321018726 + }, + { + "acceleration": -1.9999999999999778, + "curvature": 36.98805943666322, + "pose": { + "rotation": { + "radians": -0.8413486868007395 + }, + "translation": { + "x": -0.07902084097136686, + "y": 0.018630355596542303 + } + }, + "time": 3.3466849298480974, + "velocity": 0.5764795386087174 + }, + { + "acceleration": -1.9999999999999891, + "curvature": 35.15964570660894, + "pose": { + "rotation": { + "radians": -0.7962620588663976 + }, + "translation": { + "x": -0.07816711288564204, + "y": 0.01771794046674452 + } + }, + "time": 3.348860679241734, + "velocity": 0.5721280398214441 + }, + { + "acceleration": -2.00000000000001, + "curvature": 31.303118282225007, + "pose": { + "rotation": { + "radians": -0.7106357578709402 + }, + "translation": { + "x": -0.07628693471309012, + "y": 0.01595715114048546 + } + }, + "time": 3.3533990574136796, + "velocity": 0.5630512834775531 + }, + { + "acceleration": -1.9999999999999902, + "curvature": 27.428995177461147, + "pose": { + "rotation": { + "radians": -0.6315132855442873 + }, + "translation": { + "x": -0.07417416400933685, + "y": 0.0142826012202672 + } + }, + "time": 3.3582285130328335, + "velocity": 0.5533923722392453 + }, + { + "acceleration": -2.0, + "curvature": 23.75624189265796, + "pose": { + "rotation": { + "radians": -0.5590722011057767 + }, + "translation": { + "x": -0.07182604493870459, + "y": 0.012695312499999944 + } + }, + "time": 3.363398460204786, + "velocity": 0.5430524778953406 + }, + { + "acceleration": -1.9999999999999911, + "curvature": 20.414249721574574, + "pose": { + "rotation": { + "radians": -0.4931797061696271 + }, + "translation": { + "x": -0.06923982166551546, + "y": 0.0111963067735944 + } + }, + "time": 3.36895993414091, + "velocity": 0.5319295300230922 + }, + { + "acceleration": -1.9999999999999918, + "curvature": 17.459934497401907, + "pose": { + "rotation": { + "radians": -0.4334957798412308 + }, + "translation": { + "x": -0.06641273835409178, + "y": 0.009786605834960938 + } + }, + "time": 3.374966631861679, + "velocity": 0.5199161345815548 + }, + { + "acceleration": -2.0, + "curvature": 14.9001811661835, + "pose": { + "rotation": { + "radians": -0.3795612382681966 + }, + "translation": { + "x": -0.0633420391687558, + "y": 0.008467231478009984 + } + }, + "time": 3.381476380148027, + "velocity": 0.5068966380088588 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 12.711979997378924, + "pose": { + "rotation": { + "radians": -0.33086402033744416 + }, + "translation": { + "x": -0.06002496827382975, + "y": 0.007239205496651802 + } + }, + "time": 3.388553109477197, + "velocity": 0.4927431793505188 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 9.293401276465811, + "pose": { + "rotation": { + "radians": -0.2471227409523188 + }, + "translation": { + "x": -0.052640688012496994, + "y": 0.005061285836356011 + } + }, + "time": 3.4047069789966478, + "velocity": 0.46043544031161765 + }, + { + "acceleration": -2.0000000000000013, + "curvature": 6.87086543118763, + "pose": { + "rotation": { + "radians": -0.17844137117241632 + }, + "translation": { + "x": -0.04423785088467114, + "y": 0.0032610212053570953 + } + }, + "time": 3.424195782221518, + "velocity": 0.42145783386187696 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 5.153442078046409, + "pose": { + "rotation": { + "radians": -0.1216295798723478 + }, + "translation": { + "x": -0.03479441020493046, + "y": 0.0018465859549386399 + } + }, + "time": 3.4482220037806184, + "velocity": 0.37340539074367585 + }, + { + "acceleration": -1.9999999999999998, + "curvature": 3.9250768863984966, + "pose": { + "rotation": { + "radians": -0.07417082549076627 + }, + "translation": { + "x": -0.02428831928785291, + "y": 0.0008261544363838969 + } + }, + "time": 3.479032538249631, + "velocity": 0.31178432180564974 + }, + { + "acceleration": -1.9999999999999998, + "curvature": 2.3809523809523805, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 0.0, + "y": 0.0 + } + }, + "time": 3.634924699152456, + "velocity": 0.0 + } + ] +} \ No newline at end of file diff --git a/autonomous/routines/routine_1/trajectory_1.json b/autonomous/routines/routine_1/trajectory_1.json new file mode 100644 index 0000000..7c74cea --- /dev/null +++ b/autonomous/routines/routine_1/trajectory_1.json @@ -0,0 +1,857 @@ +[ + { + "acceleration":2.0000000000000004, + "curvature":2.3809523809523814, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":0.0, + "y":0.0 + } + }, + "time":0.0, + "velocity":0.0 + }, + { + "acceleration":2.000000000000001, + "curvature":2.595325966847042, + "pose":{ + "rotation":{ + "radians":0.06460283167616494 + }, + "translation":{ + "x":0.025940628160620836, + "y":0.0008261544363839286 + } + }, + "time":0.1611017705266734, + "velocity":0.32220354105334686 + }, + { + "acceleration":1.999999999999999, + "curvature":2.787492742305355, + "pose":{ + "rotation":{ + "radians":0.13177918578963022 + }, + "translation":{ + "x":0.05075989329538541, + "y":0.003261021205357143 + } + }, + "time":0.22559298431162372, + "velocity":0.45118596862324756 + }, + { + "acceleration":2.0, + "curvature":2.9449252494021136, + "pose":{ + "rotation":{ + "radians":0.20086675304867105 + }, + "translation":{ + "x":0.07450337926713341, + "y":0.007239205496651787 + } + }, + "time":0.27380037105598976, + "velocity":0.5476007421119795 + }, + { + "acceleration":2.0000000000000013, + "curvature":3.0563610293310313, + "pose":{ + "rotation":{ + "radians":0.271067404114427 + }, + "translation":{ + "x":0.09721666993870451, + "y":0.0126953125 + } + }, + "time":0.3135698756503563, + "velocity":0.6271397513007126 + }, + { + "acceleration":2.0000000000000013, + "curvature":3.1135922042633504, + "pose":{ + "rotation":{ + "radians":0.34148963883778916 + }, + "translation":{ + "x":0.11894534917293839, + "y":0.01956394740513393 + } + }, + "time":0.34801511627663584, + "velocity":0.6960302325532717 + }, + { + "acceleration":2.0, + "curvature":3.112845373687687, + "pose":{ + "rotation":{ + "radians":0.4112057410202867 + }, + "translation":{ + "x":0.13973500083267476, + "y":0.02777971540178572 + } + }, + "time":0.3787725979355451, + "velocity":0.7575451958710901 + }, + { + "acceleration":2.0, + "curvature":3.055332259900253, + "pose":{ + "rotation":{ + "radians":0.4793147718377678 + }, + "translation":{ + "x":0.15963120878075332, + "y":0.0372772216796875 + } + }, + "time":0.4068359476982932, + "velocity":0.8136718953965864 + }, + { + "acceleration":2.0, + "curvature":2.9468175976334776, + "pose":{ + "rotation":{ + "radians":0.5450007702314661 + }, + "translation":{ + "x":0.1786795568800137, + "y":0.04799107142857143 + } + }, + "time":0.43286273556068766, + "velocity":0.8657254711213753 + }, + { + "acceleration":2.0000000000000027, + "curvature":2.796384020129445, + "pose":{ + "rotation":{ + "radians":0.6075769725261475 + }, + "translation":{ + "x":0.19692562899329563, + "y":0.059855869838169644 + } + }, + "time":0.45731239630972664, + "velocity":0.9146247926194533 + }, + { + "acceleration":1.749932129781575, + "curvature":2.6148056057208007, + "pose":{ + "rotation":{ + "radians":0.666510847769103 + }, + "translation":{ + "x":0.21441500898343874, + "y":0.07280622209821429 + } + }, + "time":0.48051717108354774, + "velocity":0.9610343421670956 + }, + { + "acceleration":0.0, + "curvature":2.4129782382963043, + "pose":{ + "rotation":{ + "radians":0.7214295479787702 + }, + "translation":{ + "x":0.23119328071328277, + "y":0.0867767333984375 + } + }, + "time":0.5027841248526451, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":2.2007240886301007, + "pose":{ + "rotation":{ + "radians":0.7721092401780296 + }, + "translation":{ + "x":0.24730602804566743, + "y":0.10170200892857144 + } + }, + "time":0.524747377713906, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.9860923592042752, + "pose":{ + "rotation":{ + "radians":0.8184537703343066 + }, + "translation":{ + "x":0.26279883484343236, + "y":0.11751665387834821 + } + }, + "time":0.5468862588365004, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.7751158042945765, + "pose":{ + "rotation":{ + "radians":0.8604682380066073 + }, + "translation":{ + "x":0.2777172849694172, + "y":0.1341552734375 + } + }, + "time":0.5692336035332577, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.378877735802265, + "pose":{ + "rotation":{ + "radians":0.9318738882940065 + }, + "translation":{ + "x":0.3060134506574056, + "y":0.16964285714285715 + } + }, + "time":0.6146212845699313, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.0269790123916365, + "pose":{ + "rotation":{ + "radians":0.9874352146007722 + }, + "translation":{ + "x":0.33255919601235007, + "y":0.2076416015625 + } + }, + "time":0.6609740749273509, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.7184011472705635, + "pose":{ + "rotation":{ + "radians":1.028489463266511 + }, + "translation":{ + "x":0.357719191936968, + "y":0.24762834821428573 + } + }, + "time":0.7082177549567569, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.1930851987713053, + "pose":{ + "rotation":{ + "radians":1.0716201459130537 + }, + "translation":{ + "x":0.40534061910609465, + "y":0.3314732142857143 + } + }, + "time":0.8046426578198671, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2916630807647434, + "pose":{ + "rotation":{ + "radians":1.0669149846908788 + }, + "translation":{ + "x":0.4517950993865254, + "y":0.41699218749999994 + } + }, + "time":0.9019643589853864, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.837092751266262, + "pose":{ + "rotation":{ + "radians":1.0137255642722038 + }, + "translation":{ + "x":0.5, + "y":0.5 + } + }, + "time":0.9979539906087557, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.800067132725784, + "pose":{ + "rotation":{ + "radians":0.9371365584178165 + }, + "translation":{ + "x":0.5522892147239105, + "y":0.5771484375 + } + }, + "time":1.0911529358020067, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.7305970666123351, + "pose":{ + "rotation":{ + "radians":0.8673303065438499 + }, + "translation":{ + "x":0.6086627435582567, + "y":0.6484375 + } + }, + "time":1.1820380566159538, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.6353268212231772, + "pose":{ + "rotation":{ + "radians":0.8061523795916493 + }, + "translation":{ + "x":0.6685371130586908, + "y":0.7147042410714286 + } + }, + "time":1.2713477486728761, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.521996158571609, + "pose":{ + "rotation":{ + "radians":0.7549381802864602 + }, + "translation":{ + "x":0.7313288497808648, + "y":0.7767857142857143 + } + }, + "time":1.3596478705133521, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.3975528759100238, + "pose":{ + "rotation":{ + "radians":0.7145498145006239 + }, + "translation":{ + "x":0.7964544802804306, + "y":0.8355189732142857 + } + }, + "time":1.4473458947347484, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2671592856148399, + "pose":{ + "rotation":{ + "radians":0.6854795494256645 + }, + "translation":{ + "x":0.8633305311130404, + "y":0.8917410714285714 + } + }, + "time":1.5347148280153062, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.13405818704189948, + "pose":{ + "rotation":{ + "radians":0.6679716319317236 + }, + "translation":{ + "x":0.9313735288343461, + "y":0.9462890625 + } + }, + "time":1.6219233876228945, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.0, + "pose":{ + "rotation":{ + "radians":0.6621270389708964 + }, + "translation":{ + "x":0.9999999999999999, + "y":1.0 + } + }, + "time":1.7090695714279196, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.13405818704189962, + "pose":{ + "rotation":{ + "radians":0.6679716319317235 + }, + "translation":{ + "x":1.0686264711656537, + "y":1.0537109375 + } + }, + "time":1.7962157552329447, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.2671592856148402, + "pose":{ + "rotation":{ + "radians":0.6854795494256642 + }, + "translation":{ + "x":1.1366694688869594, + "y":1.1082589285714286 + } + }, + "time":1.883424314840533, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.3975528759100245, + "pose":{ + "rotation":{ + "radians":0.7145498145006239 + }, + "translation":{ + "x":1.2035455197195692, + "y":1.1644810267857144 + } + }, + "time":1.970793248121091, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.52199615857161, + "pose":{ + "rotation":{ + "radians":0.7549381802864603 + }, + "translation":{ + "x":1.2686711502191352, + "y":1.2232142857142858 + } + }, + "time":2.0584912723424873, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.6353268212231779, + "pose":{ + "rotation":{ + "radians":0.8061523795916495 + }, + "translation":{ + "x":1.3314628869413092, + "y":1.2852957589285716 + } + }, + "time":2.146791394182963, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.7305970666123357, + "pose":{ + "rotation":{ + "radians":0.8673303065438502 + }, + "translation":{ + "x":1.3913372564417432, + "y":1.3515625 + } + }, + "time":2.236101086239885, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.8000671327257849, + "pose":{ + "rotation":{ + "radians":0.937136558417817 + }, + "translation":{ + "x":1.4477107852760895, + "y":1.4228515625 + } + }, + "time":2.3269862070538325, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.8370927512662617, + "pose":{ + "rotation":{ + "radians":1.0137255642722043 + }, + "translation":{ + "x":1.5, + "y":1.5000000000000002 + } + }, + "time":2.420185152247084, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.2916630807647438, + "pose":{ + "rotation":{ + "radians":1.0669149846908788 + }, + "translation":{ + "x":1.5482049006134746, + "y":1.5830078125 + } + }, + "time":2.516174783870453, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.1930851987713047, + "pose":{ + "rotation":{ + "radians":1.0716201459130534 + }, + "translation":{ + "x":1.5946593808939054, + "y":1.6685267857142856 + } + }, + "time":2.6134964850359723, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.7184011472705635, + "pose":{ + "rotation":{ + "radians":1.028489463266511 + }, + "translation":{ + "x":1.642280808063032, + "y":1.7523716517857144 + } + }, + "time":2.7099213878990827, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.0269790123916358, + "pose":{ + "rotation":{ + "radians":0.9874352146007725 + }, + "translation":{ + "x":1.6674408039876498, + "y":1.7923583984375 + } + }, + "time":2.7571650679284883, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.378877735802265, + "pose":{ + "rotation":{ + "radians":0.9318738882940066 + }, + "translation":{ + "x":1.6939865493425943, + "y":1.8303571428571428 + } + }, + "time":2.803517858285908, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.7751158042945763, + "pose":{ + "rotation":{ + "radians":0.8604682380066074 + }, + "translation":{ + "x":1.7222827150305826, + "y":1.8658447265625 + } + }, + "time":2.8489055393225815, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.9860923592042752, + "pose":{ + "rotation":{ + "radians":0.8184537703343068 + }, + "translation":{ + "x":1.7372011651565675, + "y":1.882483346121652 + } + }, + "time":2.8712528840193388, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-2.2007240886301, + "pose":{ + "rotation":{ + "radians":0.7721092401780295 + }, + "translation":{ + "x":1.7526939719543324, + "y":1.8982979910714286 + } + }, + "time":2.893391765141933, + "velocity":1.0 + }, + { + "acceleration":-1.7499321297815522, + "curvature":-2.4129782382963048, + "pose":{ + "rotation":{ + "radians":0.7214295479787705 + }, + "translation":{ + "x":1.7688067192867172, + "y":1.9132232666015625 + } + }, + "time":2.915355018003194, + "velocity":1.0 + }, + { + "acceleration":-2.0000000000000027, + "curvature":-2.6148056057208007, + "pose":{ + "rotation":{ + "radians":0.6665108477691031 + }, + "translation":{ + "x":1.7855849910165613, + "y":1.9271937779017858 + } + }, + "time":2.9376219717722916, + "velocity":0.9610343421670957 + }, + { + "acceleration":-2.0, + "curvature":-2.796384020129447, + "pose":{ + "rotation":{ + "radians":0.6075769725261476 + }, + "translation":{ + "x":1.8030743710067043, + "y":1.9401441301618303 + } + }, + "time":2.9608267465461124, + "velocity":0.9146247926194542 + }, + { + "acceleration":-2.0, + "curvature":-2.946817597633479, + "pose":{ + "rotation":{ + "radians":0.5450007702314662 + }, + "translation":{ + "x":1.821320443119986, + "y":1.9520089285714286 + } + }, + "time":2.985276407295151, + "velocity":0.8657254711213762 + }, + { + "acceleration":-2.0000000000000027, + "curvature":-3.055332259900255, + "pose":{ + "rotation":{ + "radians":0.479314771837768 + }, + "translation":{ + "x":1.8403687912192466, + "y":1.9627227783203125 + } + }, + "time":3.011303195157546, + "velocity":0.8136718953965866 + }, + { + "acceleration":-2.0, + "curvature":-3.1128453736876884, + "pose":{ + "rotation":{ + "radians":0.41120574102028656 + }, + "translation":{ + "x":1.8602649991673252, + "y":1.9722202845982142 + } + }, + "time":3.0393665449202945, + "velocity":0.7575451958710898 + }, + { + "acceleration":-2.0000000000000013, + "curvature":-3.1135922042633504, + "pose":{ + "rotation":{ + "radians":0.34148963883778904 + }, + "translation":{ + "x":1.8810546508270616, + "y":1.9804360525948659 + } + }, + "time":3.070124026579204, + "velocity":0.696030232553271 + }, + { + "acceleration":-1.999999999999999, + "curvature":-3.056361029331032, + "pose":{ + "rotation":{ + "radians":0.27106740411442715 + }, + "translation":{ + "x":1.9027833300612955, + "y":1.9873046875 + } + }, + "time":3.1045692672054837, + "velocity":0.6271397513007115 + }, + { + "acceleration":-2.0, + "curvature":-2.9449252494021136, + "pose":{ + "rotation":{ + "radians":0.20086675304867097 + }, + "translation":{ + "x":1.9254966207328665, + "y":1.992760794503348 + } + }, + "time":3.1443387717998506, + "velocity":0.547600742111978 + }, + { + "acceleration":-1.9999999999999998, + "curvature":-2.7874927423053566, + "pose":{ + "rotation":{ + "radians":0.13177918578963033 + }, + "translation":{ + "x":1.9492401067046146, + "y":1.9967389787946428 + } + }, + "time":3.1925461585442165, + "velocity":0.45118596862324617 + }, + { + "acceleration":-2.0000000000000004, + "curvature":-2.595325966847042, + "pose":{ + "rotation":{ + "radians":0.06460283167616503 + }, + "translation":{ + "x":1.974059371839379, + "y":1.999173845563616 + } + }, + "time":3.2570373723291666, + "velocity":0.3222035410533462 + }, + { + "acceleration":-2.0000000000000004, + "curvature":-2.380952380952382, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":2.0, + "y":2.0 + } + }, + "time":3.4181391428558396, + "velocity":0.0 + } + ] \ No newline at end of file diff --git a/autonomous/routines/routine_1/trajectory_2.json b/autonomous/routines/routine_1/trajectory_2.json new file mode 100644 index 0000000..6f93e84 --- /dev/null +++ b/autonomous/routines/routine_1/trajectory_2.json @@ -0,0 +1,1787 @@ +[ + { + "acceleration":2.0, + "curvature":-2.3809523809523814, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":2.0, + "y":2.0 + } + }, + "time":0.0, + "velocity":0.0 + }, + { + "acceleration":2.0, + "curvature":-3.925076886398501, + "pose":{ + "rotation":{ + "radians":-0.07417082549076623 + }, + "translation":{ + "x":2.024288319287853, + "y":1.999173845563616 + } + }, + "time":0.1558921609028255, + "velocity":0.311784321805651 + }, + { + "acceleration":2.0, + "curvature":-5.153442078046409, + "pose":{ + "rotation":{ + "radians":-0.1216295798723478 + }, + "translation":{ + "x":2.0347944102049302, + "y":1.9981534140450614 + } + }, + "time":0.1867026953718375, + "velocity":0.373405390743675 + }, + { + "acceleration":2.0, + "curvature":-6.870865431187638, + "pose":{ + "rotation":{ + "radians":-0.17844137117241632 + }, + "translation":{ + "x":2.044237850884671, + "y":1.9967389787946428 + } + }, + "time":0.210728916930938, + "velocity":0.421457833861876 + }, + { + "acceleration":2.0, + "curvature":-9.293401276465815, + "pose":{ + "rotation":{ + "radians":-0.24712274095231881 + }, + "translation":{ + "x":2.052640688012497, + "y":1.9949387141636439 + } + }, + "time":0.23021772015580907, + "velocity":0.46043544031161815 + }, + { + "acceleration":2.0, + "curvature":-12.711979997378936, + "pose":{ + "rotation":{ + "radians":-0.33086402033744444 + }, + "translation":{ + "x":2.06002496827383, + "y":1.9927607945033483 + } + }, + "time":0.24637158967525977, + "velocity":0.49274317935051953 + }, + { + "acceleration":1.9999999999999918, + "curvature":-14.900181166183526, + "pose":{ + "rotation":{ + "radians":-0.379561238268197 + }, + "translation":{ + "x":2.063342039168756, + "y":1.9915327685219901 + } + }, + "time":0.25344831900442966, + "velocity":0.5068966380088593 + }, + { + "acceleration":2.0, + "curvature":-17.459934497401925, + "pose":{ + "rotation":{ + "radians":-0.4334957798412309 + }, + "translation":{ + "x":2.066412738354092, + "y":1.990213394165039 + } + }, + "time":0.25995806729077736, + "velocity":0.5199161345815547 + }, + { + "acceleration":1.9999999999999907, + "curvature":-20.414249721574603, + "pose":{ + "rotation":{ + "radians":-0.49317970616962725 + }, + "translation":{ + "x":2.0692398216655152, + "y":1.9888036932264055 + } + }, + "time":0.26596476501154587, + "velocity":0.5319295300230917 + }, + { + "acceleration":2.0, + "curvature":-23.75624189265799, + "pose":{ + "rotation":{ + "radians":-0.5590722011057766 + }, + "translation":{ + "x":2.0718260449387045, + "y":1.9873046875 + } + }, + "time":0.27152623894767053, + "velocity":0.5430524778953411 + }, + { + "acceleration":1.9999999999999898, + "curvature":-27.428995177461175, + "pose":{ + "rotation":{ + "radians":-0.6315132855442878 + }, + "translation":{ + "x":2.074174164009337, + "y":1.9857173987797327 + } + }, + "time":0.2766961861196231, + "velocity":0.5533923722392462 + }, + { + "acceleration":2.0, + "curvature":-31.303118282225075, + "pose":{ + "rotation":{ + "radians":-0.7106357578709409 + }, + "translation":{ + "x":2.07628693471309, + "y":1.9840428488595145 + } + }, + "time":0.2815256417387766, + "velocity":0.5630512834775532 + }, + { + "acceleration":2.000000000000022, + "curvature":-35.159645706609, + "pose":{ + "rotation":{ + "radians":-0.7962620588663979 + }, + "translation":{ + "x":2.0781671128856423, + "y":1.9822820595332555 + } + }, + "time":0.2860640199107224, + "velocity":0.5721280398214448 + }, + { + "acceleration":2.0, + "curvature":-36.988059436663285, + "pose":{ + "rotation":{ + "radians":-0.8413486868007399 + }, + "translation":{ + "x":2.079020840971367, + "y":1.9813696444034576 + } + }, + "time":0.2882397693043589, + "velocity":0.5764795386087178 + }, + { + "acceleration":1.9999999999999771, + "curvature":-38.6911944765433, + "pose":{ + "rotation":{ + "radians":-0.8878044495372119 + }, + "translation":{ + "x":2.0798174543626704, + "y":1.980436052594866 + } + }, + "time":0.2903608660509362, + "velocity":0.5807217321018724 + }, + { + "acceleration":2.000000000000023, + "curvature":-40.22229122406195, + "pose":{ + "rotation":{ + "radians":-0.9354809737665283 + }, + "translation":{ + "x":2.0805572975390128, + "y":1.9794814118317194 + } + }, + "time":0.2924332435431329, + "velocity":0.5848664870862658 + }, + { + "acceleration":1.9999999999999765, + "curvature":-41.535343553644125, + "pose":{ + "rotation":{ + "radians":-0.9841997802056122 + }, + "translation":{ + "x":2.0812407149798533, + "y":1.9785058498382568 + } + }, + "time":0.2944627781228363, + "velocity":0.5889255562456726 + }, + { + "acceleration":2.000000000000024, + "curvature":-42.588028498451095, + "pose":{ + "rotation":{ + "radians":-1.033754720859844 + }, + "translation":{ + "x":2.0818680511646517, + "y":1.9775094943387168 + } + }, + "time":0.29645527400899585, + "velocity":0.5929105480179917 + }, + { + "acceleration":2.0, + "curvature":-43.344736375148244, + "pose":{ + "rotation":{ + "radians":-1.0839161025726805 + }, + "translation":{ + "x":2.0824396505728675, + "y":1.976492473057338 + } + }, + "time":0.29841644302091386, + "velocity":0.5968328860418277 + }, + { + "acceleration":2.000000000000024, + "curvature":-43.77933999343355, + "pose":{ + "rotation":{ + "radians":-1.1344363808123423 + }, + "translation":{ + "x":2.0829558576839613, + "y":1.97545491371836 + } + }, + "time":0.30035188008864977, + "velocity":0.6007037601772995 + }, + { + "acceleration":1.999999999999976, + "curvature":-43.87733008467971, + "pose":{ + "rotation":{ + "radians":-1.1850571236540004 + }, + "translation":{ + "x":2.083417016977392, + "y":1.9743969440460205 + } + }, + "time":0.3022670358018074, + "velocity":0.6045340716036148 + }, + { + "acceleration":1.999999999999976, + "curvature":-43.637007519940035, + "pose":{ + "rotation":{ + "radians":-1.2355167832596747 + }, + "translation":{ + "x":2.0838234729326195, + "y":1.973318691764559 + } + }, + "time":0.30416718743806354, + "velocity":0.6083343748761271 + }, + { + "acceleration":2.0, + "curvature":-43.06955490658779, + "pose":{ + "rotation":{ + "radians":-1.2855587029566673 + }, + "translation":{ + "x":2.084175570029103, + "y":1.9722202845982142 + } + }, + "time":0.3060574100002201, + "velocity":0.6121148200004402 + }, + { + "acceleration":2.0, + "curvature":-42.197983172692034, + "pose":{ + "rotation":{ + "radians":-1.334938755353409 + }, + "translation":{ + "x":2.0844736527463037, + "y":1.971101850271225 + } + }, + "time":0.3079425487564216, + "velocity":0.6158850975128431 + }, + { + "acceleration":2.0, + "curvature":-41.0551217892863, + "pose":{ + "rotation":{ + "radians":-1.3834320579244797 + }, + "translation":{ + "x":2.08471806556368, + "y":1.96996351650783 + } + }, + "time":0.3098271946224532, + "velocity":0.6196543892449063 + }, + { + "acceleration":1.9999999999999767, + "curvature":-39.680953596252024, + "pose":{ + "rotation":{ + "radians":-1.4308383360767614 + }, + "translation":{ + "x":2.0849091529606922, + "y":1.968805411032268 + } + }, + "time":0.3117156634668311, + "velocity":0.6234313269336622 + }, + { + "acceleration":2.000000000000023, + "curvature":-38.11965972183801, + "pose":{ + "rotation":{ + "radians":-1.4769856740539584 + }, + "translation":{ + "x":2.0850472594167995, + "y":1.967627661568778 + } + }, + "time":0.31361198009273245, + "velocity":0.6272239601854649 + }, + { + "acceleration":2.0, + "curvature":-36.41673084842611, + "pose":{ + "rotation":{ + "radians":-1.5217325782212117 + }, + "translation":{ + "x":2.085132729411462, + "y":1.9664303958415985 + } + }, + "time":0.3155198672972044, + "velocity":0.6310397345944088 + }, + { + "acceleration":1.999999999999989, + "curvature":-34.61643207697982, + "pose":{ + "rotation":{ + "radians":-1.5649684441271747 + }, + "translation":{ + "x":2.0851659074241398, + "y":1.9652137415749686 + } + }, + "time":0.31744274006814643, + "velocity":0.6348854801362929 + }, + { + "acceleration":1.9999999999999893, + "curvature":-30.8832900836345, + "pose":{ + "rotation":{ + "radians":-1.646612542816186 + }, + "translation":{ + "x":2.085076765421378, + "y":1.9627227783203125 + } + }, + "time":0.3213447541055456, + "velocity":0.6426895082110912 + }, + { + "acceleration":2.0, + "curvature":-27.189129255565312, + "pose":{ + "rotation":{ + "radians":-1.721591821579909 + }, + "translation":{ + "x":2.084782589244193, + "y":1.96015579359872 + } + }, + "time":0.32534018658725694, + "velocity":0.6506803731745139 + }, + { + "acceleration":1.99999999999999, + "curvature":-23.715608877026064, + "pose":{ + "rotation":{ + "radians":-1.7899311131774194 + }, + "translation":{ + "x":2.0842861347282615, + "y":1.9575138092041016 + } + }, + "time":0.32944568759418175, + "velocity":0.6588913751883635 + }, + { + "acceleration":1.9999999999999905, + "curvature":-20.564297760595313, + "pose":{ + "rotation":{ + "radians":-1.8519014546201618 + }, + "translation":{ + "x":2.0835901577092613, + "y":1.9547978469303675 + } + }, + "time":0.33367376156419803, + "velocity":0.6673475231283961 + }, + { + "acceleration":2.000000000000009, + "curvature":-17.77561362662137, + "pose":{ + "rotation":{ + "radians":-1.9079248174526673 + }, + "translation":{ + "x":2.0826974140228707, + "y":1.9520089285714286 + } + }, + "time":0.33803328085436823, + "velocity":0.6760665617087365 + }, + { + "acceleration":1.9999999999999913, + "curvature":-15.34939194805936, + "pose":{ + "rotation":{ + "radians":-1.9584991400142502 + }, + "translation":{ + "x":2.081610659504767, + "y":1.949148075921195 + } + }, + "time":0.3425300155823549, + "velocity":0.6850600311647098 + }, + { + "acceleration":2.000000000000004, + "curvature":-13.261968099207705, + "pose":{ + "rotation":{ + "radians":-2.0041453198490715 + }, + "translation":{ + "x":2.0803326499906283, + "y":1.946216310773577 + } + }, + "time":0.3471671396096597, + "velocity":0.6943342792193195 + }, + { + "acceleration":2.0, + "curvature":-9.960064242378673, + "pose":{ + "rotation":{ + "radians":-2.0826612981087287 + }, + "translation":{ + "x":2.0772138893169565, + "y":1.9401441301618303 + } + }, + "time":0.35686313753891696, + "velocity":0.7137262750778339 + }, + { + "acceleration":2.0, + "curvature":-7.572271287540442, + "pose":{ + "rotation":{ + "radians":-2.1471266820536146 + }, + "translation":{ + "x":2.073363178687276, + "y":1.933800561087472 + } + }, + "time":0.36711324850246235, + "velocity":0.7342264970049247 + }, + { + "acceleration":2.0, + "curvature":-5.841092214253132, + "pose":{ + "rotation":{ + "radians":-2.2005194053603585 + }, + "translation":{ + "x":2.0688025647870103, + "y":1.9271937779017858 + } + }, + "time":0.3778890540579677, + "velocity":0.7557781081159354 + }, + { + "acceleration":2.0, + "curvature":-3.6335580164415155, + "pose":{ + "rotation":{ + "radians":-2.2828580802251603 + }, + "translation":{ + "x":2.0576398139164076, + "y":1.9132232666015625 + } + }, + "time":0.4008523319995877, + "velocity":0.8017046639991754 + }, + { + "acceleration":1.999999999999999, + "curvature":-2.3859297141582525, + "pose":{ + "rotation":{ + "radians":-2.3425427551974622 + }, + "translation":{ + "x":2.0439020101885244, + "y":1.8982979910714286 + } + }, + "time":0.4254031446723092, + "velocity":0.8508062893446184 + }, + { + "acceleration":0.7808367222958948, + "curvature":-1.168289411927801, + "pose":{ + "rotation":{ + "radians":-2.421478774741803 + }, + "translation":{ + "x":2.009406738094417, + "y":1.8658447265625 + } + }, + "time":0.47783848230722326, + "velocity":0.9556769646144465 + }, + { + "acceleration":0.0, + "curvature":-0.6431002814234164, + "pose":{ + "rotation":{ + "radians":-2.4696243980699735 + }, + "translation":{ + "x":1.9667277363716913, + "y":1.8303571428571428 + } + }, + "time":0.5346019952414388, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.3779012277135409, + "pose":{ + "rotation":{ + "radians":-2.5004899928645394 + }, + "translation":{ + "x":1.91727599288735, + "y":1.7923583984375 + } + }, + "time":0.5969668852927363, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.22532033615872268, + "pose":{ + "rotation":{ + "radians":-2.520473960338245 + }, + "translation":{ + "x":1.8624624955083964, + "y":1.7523716517857142 + } + }, + "time":0.6648156833860457, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.1259503451160458, + "pose":{ + "rotation":{ + "radians":-2.5328615989649164 + }, + "translation":{ + "x":1.803698232101834, + "y":1.7109200613839286 + } + }, + "time":0.7367286377166338, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.05185978219205503, + "pose":{ + "rotation":{ + "radians":-2.539376314483957 + }, + "translation":{ + "x":1.7423941905346658, + "y":1.6685267857142856 + } + }, + "time":0.8112630279970368, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.012741582075827209, + "pose":{ + "rotation":{ + "radians":-2.5408334253870972 + }, + "translation":{ + "x":1.679961358673895, + "y":1.6257149832589286 + } + }, + "time":0.8869644739781525, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.07962494904972009, + "pose":{ + "rotation":{ + "radians":-2.5374069641008212 + }, + "translation":{ + "x":1.617810724386525, + "y":1.5830078125 + } + }, + "time":0.9623740474854646, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.16149941110125976, + "pose":{ + "rotation":{ + "radians":-2.5286828834769617 + }, + "translation":{ + "x":1.557353275539559, + "y":1.5409284319196428 + } + }, + "time":1.0360339238844247, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.27767872853960485, + "pose":{ + "rotation":{ + "radians":-2.5135302822409846 + }, + "translation":{ + "x":1.4999999999999996, + "y":1.5 + } + }, + "time":1.1064933785694948, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.3190043061414333, + "pose":{ + "rotation":{ + "radians":-2.493845124623491 + }, + "translation":{ + "x":1.4468796880614505, + "y":1.4606410435267858 + } + }, + "time":1.172606123143511, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.3644631920280974, + "pose":{ + "rotation":{ + "radians":-2.4727646530940817 + }, + "translation":{ + "x":1.3979923397239105, + "y":1.4228515625 + } + }, + "time":1.2343962332239258, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.4641994068544357, + "pose":{ + "rotation":{ + "radians":-2.426610188308126 + }, + "translation":{ + "x":1.3117877435582568, + "y":1.3515625 + } + }, + "time":1.3462593765384794, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.5623714732537684, + "pose":{ + "rotation":{ + "radians":-2.376121674237115 + }, + "translation":{ + "x":1.2391286309158336, + "y":1.2852957589285714 + } + }, + "time":1.4445987258459265, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.6302381313589197, + "pose":{ + "rotation":{ + "radians":-2.3237592010084906 + }, + "translation":{ + "x":1.1777574212094364, + "y":1.2232142857142856 + } + }, + "time":1.5318943998354357, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.6275740592678156, + "pose":{ + "rotation":{ + "radians":-2.273676363647106 + }, + "translation":{ + "x":1.1254165338518594, + "y":1.1644810267857144 + } + }, + "time":1.6105656410468794, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.5184108857125409, + "pose":{ + "rotation":{ + "radians":-2.231450857835951 + }, + "translation":{ + "x":1.0798483882558978, + "y":1.1082589285714286 + } + }, + "time":1.68293538763115, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.29618604794063763, + "pose":{ + "rotation":{ + "radians":-2.203006515292095 + }, + "translation":{ + "x":1.0387954038343463, + "y":1.0537109375 + } + }, + "time":1.751205665643216, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":3.8924307326238546e-15, + "pose":{ + "rotation":{ + "radians":-2.1929446786425015 + }, + "translation":{ + "x":1.0000000000000002, + "y":1.0 + } + }, + "time":1.817462349576227, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2961860479406326, + "pose":{ + "rotation":{ + "radians":-2.203006515292096 + }, + "translation":{ + "x":0.9612045961656538, + "y":0.9462890625 + } + }, + "time":1.883719033509238, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.5184108857125374, + "pose":{ + "rotation":{ + "radians":-2.2314508578359513 + }, + "translation":{ + "x":0.9201516117441024, + "y":0.8917410714285714 + } + }, + "time":1.951989311521304, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.6275740592678127, + "pose":{ + "rotation":{ + "radians":-2.2736763636471062 + }, + "translation":{ + "x":0.8745834661481408, + "y":0.8355189732142857 + } + }, + "time":2.0243590581055746, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.6302381313589182, + "pose":{ + "rotation":{ + "radians":-2.3237592010084906 + }, + "translation":{ + "x":0.8222425787905638, + "y":0.7767857142857143 + } + }, + "time":2.1030302993170182, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.5623714732537682, + "pose":{ + "rotation":{ + "radians":-2.3761216742371145 + }, + "translation":{ + "x":0.7608713690841664, + "y":0.7147042410714286 + } + }, + "time":2.1903259733065275, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.4641994068544356, + "pose":{ + "rotation":{ + "radians":-2.426610188308126 + }, + "translation":{ + "x":0.6882122564417434, + "y":0.6484375 + } + }, + "time":2.2886653226139746, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.3644631920280975, + "pose":{ + "rotation":{ + "radians":-2.4727646530940817 + }, + "translation":{ + "x":0.6020076602760897, + "y":0.5771484375 + } + }, + "time":2.400528465928528, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.31900430614143327, + "pose":{ + "rotation":{ + "radians":-2.493845124623491 + }, + "translation":{ + "x":0.5531203119385497, + "y":0.5393589564732143 + } + }, + "time":2.462318576008943, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2776787285396064, + "pose":{ + "rotation":{ + "radians":-2.513530282240984 + }, + "translation":{ + "x":0.5000000000000001, + "y":0.5 + } + }, + "time":2.52843132058296, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.16149941110126012, + "pose":{ + "rotation":{ + "radians":-2.5286828834769617 + }, + "translation":{ + "x":0.44264672446044084, + "y":0.45907156808035715 + } + }, + "time":2.59889077526803, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.07962494904972045, + "pose":{ + "rotation":{ + "radians":-2.537406964100821 + }, + "translation":{ + "x":0.3821892756134746, + "y":0.4169921875 + } + }, + "time":2.6725506516669904, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.012741582075827595, + "pose":{ + "rotation":{ + "radians":-2.5408334253870968 + }, + "translation":{ + "x":0.32003864132610454, + "y":0.3742850167410714 + } + }, + "time":2.7479602251743023, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.05185978219205491, + "pose":{ + "rotation":{ + "radians":-2.539376314483957 + }, + "translation":{ + "x":0.25760580946533385, + "y":0.3314732142857143 + } + }, + "time":2.823661671155418, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.12595034511604572, + "pose":{ + "rotation":{ + "radians":-2.532861598964916 + }, + "translation":{ + "x":0.19630176789816578, + "y":0.28907993861607145 + } + }, + "time":2.898196061435821, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.22532033615872293, + "pose":{ + "rotation":{ + "radians":-2.5204739603382444 + }, + "translation":{ + "x":0.13753750449160335, + "y":0.2476283482142857 + } + }, + "time":2.970109015766409, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.37790122771354123, + "pose":{ + "rotation":{ + "radians":-2.500489992864539 + }, + "translation":{ + "x":0.08272400711264993, + "y":0.2076416015625 + } + }, + "time":3.0379578138597183, + "velocity":1.0 + }, + { + "acceleration":-0.7808367222958574, + "curvature":0.643100281423417, + "pose":{ + "rotation":{ + "radians":-2.469624398069973 + }, + "translation":{ + "x":0.03327226362830871, + "y":0.16964285714285715 + } + }, + "time":3.100322703911016, + "velocity":1.0 + }, + { + "acceleration":-2.0000000000000013, + "curvature":1.1682894119278024, + "pose":{ + "rotation":{ + "radians":-2.4214787747418027 + }, + "translation":{ + "x":-0.009406738094417166, + "y":0.1341552734375 + } + }, + "time":3.1570862168452316, + "velocity":0.9556769646144485 + }, + { + "acceleration":-1.9999999999999973, + "curvature":2.3859297141582556, + "pose":{ + "rotation":{ + "radians":-2.3425427551974622 + }, + "translation":{ + "x":-0.043902010188524576, + "y":0.10170200892857145 + } + }, + "time":3.209521554480146, + "velocity":0.8508062893446202 + }, + { + "acceleration":-2.0, + "curvature":3.6335580164415213, + "pose":{ + "rotation":{ + "radians":-2.2828580802251595 + }, + "translation":{ + "x":-0.05763981391640782, + "y":0.0867767333984375 + } + }, + "time":3.2340723671528675, + "velocity":0.8017046639991773 + }, + { + "acceleration":-2.0, + "curvature":5.841092214253137, + "pose":{ + "rotation":{ + "radians":-2.200519405360358 + }, + "translation":{ + "x":-0.06880256478701008, + "y":0.07280622209821425 + } + }, + "time":3.2570356450944873, + "velocity":0.7557781081159377 + }, + { + "acceleration":-1.9999999999999925, + "curvature":7.5722712875404525, + "pose":{ + "rotation":{ + "radians":-2.1471266820536137 + }, + "translation":{ + "x":-0.07336317868727615, + "y":0.06619943891252789 + } + }, + "time":3.267811450649993, + "velocity":0.7342264970049263 + }, + { + "acceleration":-1.999999999999996, + "curvature":9.960064242378692, + "pose":{ + "rotation":{ + "radians":-2.082661298108728 + }, + "translation":{ + "x":-0.07721388931695627, + "y":0.05985586983816965 + } + }, + "time":3.2780615616135376, + "velocity":0.7137262750778367 + }, + { + "acceleration":-2.0, + "curvature":13.261968099207715, + "pose":{ + "rotation":{ + "radians":-2.004145319849071 + }, + "translation":{ + "x":-0.0803326499906285, + "y":0.05378368922642296 + } + }, + "time":3.287757559542795, + "velocity":0.6943342792193219 + }, + { + "acceleration":-1.999999999999991, + "curvature":15.349391948059386, + "pose":{ + "rotation":{ + "radians":-1.9584991400142493 + }, + "translation":{ + "x":-0.08161065950476731, + "y":0.05085192407880512 + } + }, + "time":3.2923946835700995, + "velocity":0.6850600311647128 + }, + { + "acceleration":-2.0000000000000093, + "curvature":17.775613626621393, + "pose":{ + "rotation":{ + "radians":-1.9079248174526666 + }, + "translation":{ + "x":-0.0826974140228709, + "y":0.0479910714285714 + } + }, + "time":3.2968914182980864, + "velocity":0.6760665617087386 + }, + { + "acceleration":-2.0, + "curvature":20.564297760595316, + "pose":{ + "rotation":{ + "radians":-1.8519014546201613 + }, + "translation":{ + "x":-0.08359015770926148, + "y":0.04520215306963238 + } + }, + "time":3.3012509375882564, + "velocity":0.6673475231283984 + }, + { + "acceleration":-2.00000000000001, + "curvature":23.715608877026085, + "pose":{ + "rotation":{ + "radians":-1.7899311131774183 + }, + "translation":{ + "x":-0.0842861347282613, + "y":0.04248619079589844 + } + }, + "time":3.3054790115582726, + "velocity":0.6588913751883662 + }, + { + "acceleration":-2.0, + "curvature":27.189129255565305, + "pose":{ + "rotation":{ + "radians":-1.7215918215799086 + }, + "translation":{ + "x":-0.08478258924419291, + "y":0.03984420640127995 + } + }, + "time":3.3095845125651975, + "velocity":0.6506803731745161 + }, + { + "acceleration":-2.0, + "curvature":30.883290083634527, + "pose":{ + "rotation":{ + "radians":-1.6466125428161849 + }, + "translation":{ + "x":-0.08507676542137821, + "y":0.0372772216796875 + } + }, + "time":3.3135799450469086, + "velocity":0.6426895082110943 + }, + { + "acceleration":-1.9999999999999771, + "curvature":34.61643207697983, + "pose":{ + "rotation":{ + "radians":-1.5649684441271745 + }, + "translation":{ + "x":-0.08516590742413976, + "y":0.03478625842503141 + } + }, + "time":3.317481959084308, + "velocity":0.634885480136296 + }, + { + "acceleration":-2.0, + "curvature":36.41673084842612, + "pose":{ + "rotation":{ + "radians":-1.5217325782212103 + }, + "translation":{ + "x":-0.08513272941146222, + "y":0.033569604158401434 + } + }, + "time":3.3194048318552505, + "velocity":0.6310397345944112 + }, + { + "acceleration":-2.0, + "curvature":38.11965972183798, + "pose":{ + "rotation":{ + "radians":-1.4769856740539578 + }, + "translation":{ + "x":-0.08504725941679958, + "y":0.03237233843122206 + } + }, + "time":3.3213127190597223, + "velocity":0.6272239601854677 + }, + { + "acceleration":-1.9999999999999765, + "curvature":39.680953596251996, + "pose":{ + "rotation":{ + "radians":-1.4308383360767607 + }, + "translation":{ + "x":-0.08490915296069201, + "y":0.031194588967731973 + } + }, + "time":3.323209035685624, + "velocity":0.6234313269336637 + }, + { + "acceleration":-1.9999999999999762, + "curvature":41.05512178928634, + "pose":{ + "rotation":{ + "radians":-1.3834320579244794 + }, + "translation":{ + "x":-0.08471806556368011, + "y":0.03003648349217003 + } + }, + "time":3.325097504530002, + "velocity":0.6196543892449078 + }, + { + "acceleration":-1.999999999999976, + "curvature":42.19798317269199, + "pose":{ + "rotation":{ + "radians":-1.3349387553534076 + }, + "translation":{ + "x":-0.0844736527463037, + "y":0.028898149728775024 + } + }, + "time":3.326982150396034, + "velocity":0.6158850975128444 + }, + { + "acceleration":-2.0, + "curvature":43.0695549065878, + "pose":{ + "rotation":{ + "radians":-1.2855587029566669 + }, + "translation":{ + "x":-0.08417557002910336, + "y":0.027779715401785754 + } + }, + "time":3.3288672891522357, + "velocity":0.6121148200004412 + }, + { + "acceleration":-2.000000000000024, + "curvature":43.63700751994001, + "pose":{ + "rotation":{ + "radians":-1.2355167832596736 + }, + "translation":{ + "x":-0.08382347293261927, + "y":0.026681308235441015 + } + }, + "time":3.3307575117143924, + "velocity":0.6083343748761276 + }, + { + "acceleration":-2.0, + "curvature":43.877330084679706, + "pose":{ + "rotation":{ + "radians":-1.1850571236540008 + }, + "translation":{ + "x":-0.0834170169773919, + "y":0.025603055953979437 + } + }, + "time":3.332657663350649, + "velocity":0.604534071603615 + }, + { + "acceleration":-2.0, + "curvature":43.77933999343348, + "pose":{ + "rotation":{ + "radians":-1.1344363808123417 + }, + "translation":{ + "x":-0.08295585768396119, + "y":0.02454508628164015 + } + }, + "time":3.3345728190638066, + "velocity":0.6007037601772995 + }, + { + "acceleration":-2.000000000000024, + "curvature":43.34473637514813, + "pose":{ + "rotation":{ + "radians":-1.083916102572679 + }, + "translation":{ + "x":-0.0824396505728675, + "y":0.023507526942661783 + } + }, + "time":3.3365082561315424, + "velocity":0.5968328860418279 + }, + { + "acceleration":-1.9999999999999765, + "curvature":42.588028498451074, + "pose":{ + "rotation":{ + "radians":-1.0337547208598437 + }, + "translation":{ + "x":-0.08186805116465157, + "y":0.02249050566128319 + } + }, + "time":3.3384694251434603, + "velocity":0.5929105480179918 + }, + { + "acceleration":-2.000000000000023, + "curvature":41.53534355364406, + "pose":{ + "rotation":{ + "radians":-0.9841997802056115 + }, + "translation":{ + "x":-0.08124071497985308, + "y":0.021494150161743164 + } + }, + "time":3.34046192102962, + "velocity":0.5889255562456722 + }, + { + "acceleration":-2.000000000000023, + "curvature":40.22229122406194, + "pose":{ + "rotation":{ + "radians":-0.935480973766528 + }, + "translation":{ + "x":-0.08055729753901275, + "y":0.020518588168280505 + } + }, + "time":3.3424914556093235, + "velocity":0.5848664870862655 + }, + { + "acceleration":-1.9999999999999774, + "curvature":38.69119447654324, + "pose":{ + "rotation":{ + "radians":-0.887804449537211 + }, + "translation":{ + "x":-0.07981745436267063, + "y":0.019563947405134008 + } + }, + "time":3.3445638331015197, + "velocity":0.5807217321018726 + }, + { + "acceleration":-1.9999999999999778, + "curvature":36.98805943666322, + "pose":{ + "rotation":{ + "radians":-0.8413486868007395 + }, + "translation":{ + "x":-0.07902084097136686, + "y":0.018630355596542303 + } + }, + "time":3.3466849298480974, + "velocity":0.5764795386087174 + }, + { + "acceleration":-1.9999999999999891, + "curvature":35.15964570660894, + "pose":{ + "rotation":{ + "radians":-0.7962620588663976 + }, + "translation":{ + "x":-0.07816711288564204, + "y":0.01771794046674452 + } + }, + "time":3.348860679241734, + "velocity":0.5721280398214441 + }, + { + "acceleration":-2.00000000000001, + "curvature":31.303118282225007, + "pose":{ + "rotation":{ + "radians":-0.7106357578709402 + }, + "translation":{ + "x":-0.07628693471309012, + "y":0.01595715114048546 + } + }, + "time":3.3533990574136796, + "velocity":0.5630512834775531 + }, + { + "acceleration":-1.9999999999999902, + "curvature":27.428995177461147, + "pose":{ + "rotation":{ + "radians":-0.6315132855442873 + }, + "translation":{ + "x":-0.07417416400933685, + "y":0.0142826012202672 + } + }, + "time":3.3582285130328335, + "velocity":0.5533923722392453 + }, + { + "acceleration":-2.0, + "curvature":23.75624189265796, + "pose":{ + "rotation":{ + "radians":-0.5590722011057767 + }, + "translation":{ + "x":-0.07182604493870459, + "y":0.012695312499999944 + } + }, + "time":3.363398460204786, + "velocity":0.5430524778953406 + }, + { + "acceleration":-1.9999999999999911, + "curvature":20.414249721574574, + "pose":{ + "rotation":{ + "radians":-0.4931797061696271 + }, + "translation":{ + "x":-0.06923982166551546, + "y":0.0111963067735944 + } + }, + "time":3.36895993414091, + "velocity":0.5319295300230922 + }, + { + "acceleration":-1.9999999999999918, + "curvature":17.459934497401907, + "pose":{ + "rotation":{ + "radians":-0.4334957798412308 + }, + "translation":{ + "x":-0.06641273835409178, + "y":0.009786605834960938 + } + }, + "time":3.374966631861679, + "velocity":0.5199161345815548 + }, + { + "acceleration":-2.0, + "curvature":14.9001811661835, + "pose":{ + "rotation":{ + "radians":-0.3795612382681966 + }, + "translation":{ + "x":-0.0633420391687558, + "y":0.008467231478009984 + } + }, + "time":3.381476380148027, + "velocity":0.5068966380088588 + }, + { + "acceleration":-2.0000000000000018, + "curvature":12.711979997378924, + "pose":{ + "rotation":{ + "radians":-0.33086402033744416 + }, + "translation":{ + "x":-0.06002496827382975, + "y":0.007239205496651802 + } + }, + "time":3.388553109477197, + "velocity":0.4927431793505188 + }, + { + "acceleration":-2.0000000000000018, + "curvature":9.293401276465811, + "pose":{ + "rotation":{ + "radians":-0.2471227409523188 + }, + "translation":{ + "x":-0.052640688012496994, + "y":0.005061285836356011 + } + }, + "time":3.4047069789966478, + "velocity":0.46043544031161765 + }, + { + "acceleration":-2.0000000000000013, + "curvature":6.87086543118763, + "pose":{ + "rotation":{ + "radians":-0.17844137117241632 + }, + "translation":{ + "x":-0.04423785088467114, + "y":0.0032610212053570953 + } + }, + "time":3.424195782221518, + "velocity":0.42145783386187696 + }, + { + "acceleration":-2.0000000000000018, + "curvature":5.153442078046409, + "pose":{ + "rotation":{ + "radians":-0.1216295798723478 + }, + "translation":{ + "x":-0.03479441020493046, + "y":0.0018465859549386399 + } + }, + "time":3.4482220037806184, + "velocity":0.37340539074367585 + }, + { + "acceleration":-1.9999999999999998, + "curvature":3.9250768863984966, + "pose":{ + "rotation":{ + "radians":-0.07417082549076627 + }, + "translation":{ + "x":-0.02428831928785291, + "y":0.0008261544363838969 + } + }, + "time":3.479032538249631, + "velocity":0.31178432180564974 + }, + { + "acceleration":-1.9999999999999998, + "curvature":2.3809523809523805, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":0.0, + "y":0.0 + } + }, + "time":3.634924699152456, + "velocity":0.0 + } + ] \ No newline at end of file diff --git a/autonomous/routines/routine_2/auto_routine.json b/autonomous/routines/routine_2/auto_routine.json new file mode 100644 index 0000000..ea9c624 --- /dev/null +++ b/autonomous/routines/routine_2/auto_routine.json @@ -0,0 +1,2646 @@ +{ + "trajectory_1": [ + { + "acceleration": 2.0000000000000004, + "curvature": 2.3809523809523814, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 0.0, + "y": 0.0 + } + }, + "time": 0.0, + "velocity": 0.0 + }, + { + "acceleration": 2.000000000000001, + "curvature": 2.595325966847042, + "pose": { + "rotation": { + "radians": 0.06460283167616494 + }, + "translation": { + "x": 0.025940628160620836, + "y": 0.0008261544363839286 + } + }, + "time": 0.1611017705266734, + "velocity": 0.32220354105334686 + }, + { + "acceleration": 1.999999999999999, + "curvature": 2.787492742305355, + "pose": { + "rotation": { + "radians": 0.13177918578963022 + }, + "translation": { + "x": 0.05075989329538541, + "y": 0.003261021205357143 + } + }, + "time": 0.22559298431162372, + "velocity": 0.45118596862324756 + }, + { + "acceleration": 2.0, + "curvature": 2.9449252494021136, + "pose": { + "rotation": { + "radians": 0.20086675304867105 + }, + "translation": { + "x": 0.07450337926713341, + "y": 0.007239205496651787 + } + }, + "time": 0.27380037105598976, + "velocity": 0.5476007421119795 + }, + { + "acceleration": 2.0000000000000013, + "curvature": 3.0563610293310313, + "pose": { + "rotation": { + "radians": 0.271067404114427 + }, + "translation": { + "x": 0.09721666993870451, + "y": 0.0126953125 + } + }, + "time": 0.3135698756503563, + "velocity": 0.6271397513007126 + }, + { + "acceleration": 2.0000000000000013, + "curvature": 3.1135922042633504, + "pose": { + "rotation": { + "radians": 0.34148963883778916 + }, + "translation": { + "x": 0.11894534917293839, + "y": 0.01956394740513393 + } + }, + "time": 0.34801511627663584, + "velocity": 0.6960302325532717 + }, + { + "acceleration": 2.0, + "curvature": 3.112845373687687, + "pose": { + "rotation": { + "radians": 0.4112057410202867 + }, + "translation": { + "x": 0.13973500083267476, + "y": 0.02777971540178572 + } + }, + "time": 0.3787725979355451, + "velocity": 0.7575451958710901 + }, + { + "acceleration": 2.0, + "curvature": 3.055332259900253, + "pose": { + "rotation": { + "radians": 0.4793147718377678 + }, + "translation": { + "x": 0.15963120878075332, + "y": 0.0372772216796875 + } + }, + "time": 0.4068359476982932, + "velocity": 0.8136718953965864 + }, + { + "acceleration": 2.0, + "curvature": 2.9468175976334776, + "pose": { + "rotation": { + "radians": 0.5450007702314661 + }, + "translation": { + "x": 0.1786795568800137, + "y": 0.04799107142857143 + } + }, + "time": 0.43286273556068766, + "velocity": 0.8657254711213753 + }, + { + "acceleration": 2.0000000000000027, + "curvature": 2.796384020129445, + "pose": { + "rotation": { + "radians": 0.6075769725261475 + }, + "translation": { + "x": 0.19692562899329563, + "y": 0.059855869838169644 + } + }, + "time": 0.45731239630972664, + "velocity": 0.9146247926194533 + }, + { + "acceleration": 1.749932129781575, + "curvature": 2.6148056057208007, + "pose": { + "rotation": { + "radians": 0.666510847769103 + }, + "translation": { + "x": 0.21441500898343874, + "y": 0.07280622209821429 + } + }, + "time": 0.48051717108354774, + "velocity": 0.9610343421670956 + }, + { + "acceleration": 0.0, + "curvature": 2.4129782382963043, + "pose": { + "rotation": { + "radians": 0.7214295479787702 + }, + "translation": { + "x": 0.23119328071328277, + "y": 0.0867767333984375 + } + }, + "time": 0.5027841248526451, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 2.2007240886301007, + "pose": { + "rotation": { + "radians": 0.7721092401780296 + }, + "translation": { + "x": 0.24730602804566743, + "y": 0.10170200892857144 + } + }, + "time": 0.524747377713906, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.9860923592042752, + "pose": { + "rotation": { + "radians": 0.8184537703343066 + }, + "translation": { + "x": 0.26279883484343236, + "y": 0.11751665387834821 + } + }, + "time": 0.5468862588365004, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.7751158042945765, + "pose": { + "rotation": { + "radians": 0.8604682380066073 + }, + "translation": { + "x": 0.2777172849694172, + "y": 0.1341552734375 + } + }, + "time": 0.5692336035332577, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.378877735802265, + "pose": { + "rotation": { + "radians": 0.9318738882940065 + }, + "translation": { + "x": 0.3060134506574056, + "y": 0.16964285714285715 + } + }, + "time": 0.6146212845699313, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.0269790123916365, + "pose": { + "rotation": { + "radians": 0.9874352146007722 + }, + "translation": { + "x": 0.33255919601235007, + "y": 0.2076416015625 + } + }, + "time": 0.6609740749273509, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.7184011472705635, + "pose": { + "rotation": { + "radians": 1.028489463266511 + }, + "translation": { + "x": 0.357719191936968, + "y": 0.24762834821428573 + } + }, + "time": 0.7082177549567569, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.1930851987713053, + "pose": { + "rotation": { + "radians": 1.0716201459130537 + }, + "translation": { + "x": 0.40534061910609465, + "y": 0.3314732142857143 + } + }, + "time": 0.8046426578198671, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2916630807647434, + "pose": { + "rotation": { + "radians": 1.0669149846908788 + }, + "translation": { + "x": 0.4517950993865254, + "y": 0.41699218749999994 + } + }, + "time": 0.9019643589853864, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.837092751266262, + "pose": { + "rotation": { + "radians": 1.0137255642722038 + }, + "translation": { + "x": 0.5, + "y": 0.5 + } + }, + "time": 0.9979539906087557, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.800067132725784, + "pose": { + "rotation": { + "radians": 0.9371365584178165 + }, + "translation": { + "x": 0.5522892147239105, + "y": 0.5771484375 + } + }, + "time": 1.0911529358020067, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.7305970666123351, + "pose": { + "rotation": { + "radians": 0.8673303065438499 + }, + "translation": { + "x": 0.6086627435582567, + "y": 0.6484375 + } + }, + "time": 1.1820380566159538, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6353268212231772, + "pose": { + "rotation": { + "radians": 0.8061523795916493 + }, + "translation": { + "x": 0.6685371130586908, + "y": 0.7147042410714286 + } + }, + "time": 1.2713477486728761, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.521996158571609, + "pose": { + "rotation": { + "radians": 0.7549381802864602 + }, + "translation": { + "x": 0.7313288497808648, + "y": 0.7767857142857143 + } + }, + "time": 1.3596478705133521, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3975528759100238, + "pose": { + "rotation": { + "radians": 0.7145498145006239 + }, + "translation": { + "x": 0.7964544802804306, + "y": 0.8355189732142857 + } + }, + "time": 1.4473458947347484, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2671592856148399, + "pose": { + "rotation": { + "radians": 0.6854795494256645 + }, + "translation": { + "x": 0.8633305311130404, + "y": 0.8917410714285714 + } + }, + "time": 1.5347148280153062, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.13405818704189948, + "pose": { + "rotation": { + "radians": 0.6679716319317236 + }, + "translation": { + "x": 0.9313735288343461, + "y": 0.9462890625 + } + }, + "time": 1.6219233876228945, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.0, + "pose": { + "rotation": { + "radians": 0.6621270389708964 + }, + "translation": { + "x": 0.9999999999999999, + "y": 1.0 + } + }, + "time": 1.7090695714279196, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.13405818704189962, + "pose": { + "rotation": { + "radians": 0.6679716319317235 + }, + "translation": { + "x": 1.0686264711656537, + "y": 1.0537109375 + } + }, + "time": 1.7962157552329447, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.2671592856148402, + "pose": { + "rotation": { + "radians": 0.6854795494256642 + }, + "translation": { + "x": 1.1366694688869594, + "y": 1.1082589285714286 + } + }, + "time": 1.883424314840533, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3975528759100245, + "pose": { + "rotation": { + "radians": 0.7145498145006239 + }, + "translation": { + "x": 1.2035455197195692, + "y": 1.1644810267857144 + } + }, + "time": 1.970793248121091, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.52199615857161, + "pose": { + "rotation": { + "radians": 0.7549381802864603 + }, + "translation": { + "x": 1.2686711502191352, + "y": 1.2232142857142858 + } + }, + "time": 2.0584912723424873, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6353268212231779, + "pose": { + "rotation": { + "radians": 0.8061523795916495 + }, + "translation": { + "x": 1.3314628869413092, + "y": 1.2852957589285716 + } + }, + "time": 2.146791394182963, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.7305970666123357, + "pose": { + "rotation": { + "radians": 0.8673303065438502 + }, + "translation": { + "x": 1.3913372564417432, + "y": 1.3515625 + } + }, + "time": 2.236101086239885, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.8000671327257849, + "pose": { + "rotation": { + "radians": 0.937136558417817 + }, + "translation": { + "x": 1.4477107852760895, + "y": 1.4228515625 + } + }, + "time": 2.3269862070538325, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.8370927512662617, + "pose": { + "rotation": { + "radians": 1.0137255642722043 + }, + "translation": { + "x": 1.5, + "y": 1.5000000000000002 + } + }, + "time": 2.420185152247084, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.2916630807647438, + "pose": { + "rotation": { + "radians": 1.0669149846908788 + }, + "translation": { + "x": 1.5482049006134746, + "y": 1.5830078125 + } + }, + "time": 2.516174783870453, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.1930851987713047, + "pose": { + "rotation": { + "radians": 1.0716201459130534 + }, + "translation": { + "x": 1.5946593808939054, + "y": 1.6685267857142856 + } + }, + "time": 2.6134964850359723, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.7184011472705635, + "pose": { + "rotation": { + "radians": 1.028489463266511 + }, + "translation": { + "x": 1.642280808063032, + "y": 1.7523716517857144 + } + }, + "time": 2.7099213878990827, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.0269790123916358, + "pose": { + "rotation": { + "radians": 0.9874352146007725 + }, + "translation": { + "x": 1.6674408039876498, + "y": 1.7923583984375 + } + }, + "time": 2.7571650679284883, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.378877735802265, + "pose": { + "rotation": { + "radians": 0.9318738882940066 + }, + "translation": { + "x": 1.6939865493425943, + "y": 1.8303571428571428 + } + }, + "time": 2.803517858285908, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.7751158042945763, + "pose": { + "rotation": { + "radians": 0.8604682380066074 + }, + "translation": { + "x": 1.7222827150305826, + "y": 1.8658447265625 + } + }, + "time": 2.8489055393225815, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.9860923592042752, + "pose": { + "rotation": { + "radians": 0.8184537703343068 + }, + "translation": { + "x": 1.7372011651565675, + "y": 1.882483346121652 + } + }, + "time": 2.8712528840193388, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -2.2007240886301, + "pose": { + "rotation": { + "radians": 0.7721092401780295 + }, + "translation": { + "x": 1.7526939719543324, + "y": 1.8982979910714286 + } + }, + "time": 2.893391765141933, + "velocity": 1.0 + }, + { + "acceleration": -1.7499321297815522, + "curvature": -2.4129782382963048, + "pose": { + "rotation": { + "radians": 0.7214295479787705 + }, + "translation": { + "x": 1.7688067192867172, + "y": 1.9132232666015625 + } + }, + "time": 2.915355018003194, + "velocity": 1.0 + }, + { + "acceleration": -2.0000000000000027, + "curvature": -2.6148056057208007, + "pose": { + "rotation": { + "radians": 0.6665108477691031 + }, + "translation": { + "x": 1.7855849910165613, + "y": 1.9271937779017858 + } + }, + "time": 2.9376219717722916, + "velocity": 0.9610343421670957 + }, + { + "acceleration": -2.0, + "curvature": -2.796384020129447, + "pose": { + "rotation": { + "radians": 0.6075769725261476 + }, + "translation": { + "x": 1.8030743710067043, + "y": 1.9401441301618303 + } + }, + "time": 2.9608267465461124, + "velocity": 0.9146247926194542 + }, + { + "acceleration": -2.0, + "curvature": -2.946817597633479, + "pose": { + "rotation": { + "radians": 0.5450007702314662 + }, + "translation": { + "x": 1.821320443119986, + "y": 1.9520089285714286 + } + }, + "time": 2.985276407295151, + "velocity": 0.8657254711213762 + }, + { + "acceleration": -2.0000000000000027, + "curvature": -3.055332259900255, + "pose": { + "rotation": { + "radians": 0.479314771837768 + }, + "translation": { + "x": 1.8403687912192466, + "y": 1.9627227783203125 + } + }, + "time": 3.011303195157546, + "velocity": 0.8136718953965866 + }, + { + "acceleration": -2.0, + "curvature": -3.1128453736876884, + "pose": { + "rotation": { + "radians": 0.41120574102028656 + }, + "translation": { + "x": 1.8602649991673252, + "y": 1.9722202845982142 + } + }, + "time": 3.0393665449202945, + "velocity": 0.7575451958710898 + }, + { + "acceleration": -2.0000000000000013, + "curvature": -3.1135922042633504, + "pose": { + "rotation": { + "radians": 0.34148963883778904 + }, + "translation": { + "x": 1.8810546508270616, + "y": 1.9804360525948659 + } + }, + "time": 3.070124026579204, + "velocity": 0.696030232553271 + }, + { + "acceleration": -1.999999999999999, + "curvature": -3.056361029331032, + "pose": { + "rotation": { + "radians": 0.27106740411442715 + }, + "translation": { + "x": 1.9027833300612955, + "y": 1.9873046875 + } + }, + "time": 3.1045692672054837, + "velocity": 0.6271397513007115 + }, + { + "acceleration": -2.0, + "curvature": -2.9449252494021136, + "pose": { + "rotation": { + "radians": 0.20086675304867097 + }, + "translation": { + "x": 1.9254966207328665, + "y": 1.992760794503348 + } + }, + "time": 3.1443387717998506, + "velocity": 0.547600742111978 + }, + { + "acceleration": -1.9999999999999998, + "curvature": -2.7874927423053566, + "pose": { + "rotation": { + "radians": 0.13177918578963033 + }, + "translation": { + "x": 1.9492401067046146, + "y": 1.9967389787946428 + } + }, + "time": 3.1925461585442165, + "velocity": 0.45118596862324617 + }, + { + "acceleration": -2.0000000000000004, + "curvature": -2.595325966847042, + "pose": { + "rotation": { + "radians": 0.06460283167616503 + }, + "translation": { + "x": 1.974059371839379, + "y": 1.999173845563616 + } + }, + "time": 3.2570373723291666, + "velocity": 0.3222035410533462 + }, + { + "acceleration": -2.0000000000000004, + "curvature": -2.380952380952382, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 2.0, + "y": 2.0 + } + }, + "time": 3.4181391428558396, + "velocity": 0.0 + } + ], + "trajectory_2": [ + { + "acceleration": 2.0, + "curvature": -2.3809523809523814, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 2.0, + "y": 2.0 + } + }, + "time": 0.0, + "velocity": 0.0 + }, + { + "acceleration": 2.0, + "curvature": -3.925076886398501, + "pose": { + "rotation": { + "radians": -0.07417082549076623 + }, + "translation": { + "x": 2.024288319287853, + "y": 1.999173845563616 + } + }, + "time": 0.1558921609028255, + "velocity": 0.311784321805651 + }, + { + "acceleration": 2.0, + "curvature": -5.153442078046409, + "pose": { + "rotation": { + "radians": -0.1216295798723478 + }, + "translation": { + "x": 2.0347944102049302, + "y": 1.9981534140450614 + } + }, + "time": 0.1867026953718375, + "velocity": 0.373405390743675 + }, + { + "acceleration": 2.0, + "curvature": -6.870865431187638, + "pose": { + "rotation": { + "radians": -0.17844137117241632 + }, + "translation": { + "x": 2.044237850884671, + "y": 1.9967389787946428 + } + }, + "time": 0.210728916930938, + "velocity": 0.421457833861876 + }, + { + "acceleration": 2.0, + "curvature": -9.293401276465815, + "pose": { + "rotation": { + "radians": -0.24712274095231881 + }, + "translation": { + "x": 2.052640688012497, + "y": 1.9949387141636439 + } + }, + "time": 0.23021772015580907, + "velocity": 0.46043544031161815 + }, + { + "acceleration": 2.0, + "curvature": -12.711979997378936, + "pose": { + "rotation": { + "radians": -0.33086402033744444 + }, + "translation": { + "x": 2.06002496827383, + "y": 1.9927607945033483 + } + }, + "time": 0.24637158967525977, + "velocity": 0.49274317935051953 + }, + { + "acceleration": 1.9999999999999918, + "curvature": -14.900181166183526, + "pose": { + "rotation": { + "radians": -0.379561238268197 + }, + "translation": { + "x": 2.063342039168756, + "y": 1.9915327685219901 + } + }, + "time": 0.25344831900442966, + "velocity": 0.5068966380088593 + }, + { + "acceleration": 2.0, + "curvature": -17.459934497401925, + "pose": { + "rotation": { + "radians": -0.4334957798412309 + }, + "translation": { + "x": 2.066412738354092, + "y": 1.990213394165039 + } + }, + "time": 0.25995806729077736, + "velocity": 0.5199161345815547 + }, + { + "acceleration": 1.9999999999999907, + "curvature": -20.414249721574603, + "pose": { + "rotation": { + "radians": -0.49317970616962725 + }, + "translation": { + "x": 2.0692398216655152, + "y": 1.9888036932264055 + } + }, + "time": 0.26596476501154587, + "velocity": 0.5319295300230917 + }, + { + "acceleration": 2.0, + "curvature": -23.75624189265799, + "pose": { + "rotation": { + "radians": -0.5590722011057766 + }, + "translation": { + "x": 2.0718260449387045, + "y": 1.9873046875 + } + }, + "time": 0.27152623894767053, + "velocity": 0.5430524778953411 + }, + { + "acceleration": 1.9999999999999898, + "curvature": -27.428995177461175, + "pose": { + "rotation": { + "radians": -0.6315132855442878 + }, + "translation": { + "x": 2.074174164009337, + "y": 1.9857173987797327 + } + }, + "time": 0.2766961861196231, + "velocity": 0.5533923722392462 + }, + { + "acceleration": 2.0, + "curvature": -31.303118282225075, + "pose": { + "rotation": { + "radians": -0.7106357578709409 + }, + "translation": { + "x": 2.07628693471309, + "y": 1.9840428488595145 + } + }, + "time": 0.2815256417387766, + "velocity": 0.5630512834775532 + }, + { + "acceleration": 2.000000000000022, + "curvature": -35.159645706609, + "pose": { + "rotation": { + "radians": -0.7962620588663979 + }, + "translation": { + "x": 2.0781671128856423, + "y": 1.9822820595332555 + } + }, + "time": 0.2860640199107224, + "velocity": 0.5721280398214448 + }, + { + "acceleration": 2.0, + "curvature": -36.988059436663285, + "pose": { + "rotation": { + "radians": -0.8413486868007399 + }, + "translation": { + "x": 2.079020840971367, + "y": 1.9813696444034576 + } + }, + "time": 0.2882397693043589, + "velocity": 0.5764795386087178 + }, + { + "acceleration": 1.9999999999999771, + "curvature": -38.6911944765433, + "pose": { + "rotation": { + "radians": -0.8878044495372119 + }, + "translation": { + "x": 2.0798174543626704, + "y": 1.980436052594866 + } + }, + "time": 0.2903608660509362, + "velocity": 0.5807217321018724 + }, + { + "acceleration": 2.000000000000023, + "curvature": -40.22229122406195, + "pose": { + "rotation": { + "radians": -0.9354809737665283 + }, + "translation": { + "x": 2.0805572975390128, + "y": 1.9794814118317194 + } + }, + "time": 0.2924332435431329, + "velocity": 0.5848664870862658 + }, + { + "acceleration": 1.9999999999999765, + "curvature": -41.535343553644125, + "pose": { + "rotation": { + "radians": -0.9841997802056122 + }, + "translation": { + "x": 2.0812407149798533, + "y": 1.9785058498382568 + } + }, + "time": 0.2944627781228363, + "velocity": 0.5889255562456726 + }, + { + "acceleration": 2.000000000000024, + "curvature": -42.588028498451095, + "pose": { + "rotation": { + "radians": -1.033754720859844 + }, + "translation": { + "x": 2.0818680511646517, + "y": 1.9775094943387168 + } + }, + "time": 0.29645527400899585, + "velocity": 0.5929105480179917 + }, + { + "acceleration": 2.0, + "curvature": -43.344736375148244, + "pose": { + "rotation": { + "radians": -1.0839161025726805 + }, + "translation": { + "x": 2.0824396505728675, + "y": 1.976492473057338 + } + }, + "time": 0.29841644302091386, + "velocity": 0.5968328860418277 + }, + { + "acceleration": 2.000000000000024, + "curvature": -43.77933999343355, + "pose": { + "rotation": { + "radians": -1.1344363808123423 + }, + "translation": { + "x": 2.0829558576839613, + "y": 1.97545491371836 + } + }, + "time": 0.30035188008864977, + "velocity": 0.6007037601772995 + }, + { + "acceleration": 1.999999999999976, + "curvature": -43.87733008467971, + "pose": { + "rotation": { + "radians": -1.1850571236540004 + }, + "translation": { + "x": 2.083417016977392, + "y": 1.9743969440460205 + } + }, + "time": 0.3022670358018074, + "velocity": 0.6045340716036148 + }, + { + "acceleration": 1.999999999999976, + "curvature": -43.637007519940035, + "pose": { + "rotation": { + "radians": -1.2355167832596747 + }, + "translation": { + "x": 2.0838234729326195, + "y": 1.973318691764559 + } + }, + "time": 0.30416718743806354, + "velocity": 0.6083343748761271 + }, + { + "acceleration": 2.0, + "curvature": -43.06955490658779, + "pose": { + "rotation": { + "radians": -1.2855587029566673 + }, + "translation": { + "x": 2.084175570029103, + "y": 1.9722202845982142 + } + }, + "time": 0.3060574100002201, + "velocity": 0.6121148200004402 + }, + { + "acceleration": 2.0, + "curvature": -42.197983172692034, + "pose": { + "rotation": { + "radians": -1.334938755353409 + }, + "translation": { + "x": 2.0844736527463037, + "y": 1.971101850271225 + } + }, + "time": 0.3079425487564216, + "velocity": 0.6158850975128431 + }, + { + "acceleration": 2.0, + "curvature": -41.0551217892863, + "pose": { + "rotation": { + "radians": -1.3834320579244797 + }, + "translation": { + "x": 2.08471806556368, + "y": 1.96996351650783 + } + }, + "time": 0.3098271946224532, + "velocity": 0.6196543892449063 + }, + { + "acceleration": 1.9999999999999767, + "curvature": -39.680953596252024, + "pose": { + "rotation": { + "radians": -1.4308383360767614 + }, + "translation": { + "x": 2.0849091529606922, + "y": 1.968805411032268 + } + }, + "time": 0.3117156634668311, + "velocity": 0.6234313269336622 + }, + { + "acceleration": 2.000000000000023, + "curvature": -38.11965972183801, + "pose": { + "rotation": { + "radians": -1.4769856740539584 + }, + "translation": { + "x": 2.0850472594167995, + "y": 1.967627661568778 + } + }, + "time": 0.31361198009273245, + "velocity": 0.6272239601854649 + }, + { + "acceleration": 2.0, + "curvature": -36.41673084842611, + "pose": { + "rotation": { + "radians": -1.5217325782212117 + }, + "translation": { + "x": 2.085132729411462, + "y": 1.9664303958415985 + } + }, + "time": 0.3155198672972044, + "velocity": 0.6310397345944088 + }, + { + "acceleration": 1.999999999999989, + "curvature": -34.61643207697982, + "pose": { + "rotation": { + "radians": -1.5649684441271747 + }, + "translation": { + "x": 2.0851659074241398, + "y": 1.9652137415749686 + } + }, + "time": 0.31744274006814643, + "velocity": 0.6348854801362929 + }, + { + "acceleration": 1.9999999999999893, + "curvature": -30.8832900836345, + "pose": { + "rotation": { + "radians": -1.646612542816186 + }, + "translation": { + "x": 2.085076765421378, + "y": 1.9627227783203125 + } + }, + "time": 0.3213447541055456, + "velocity": 0.6426895082110912 + }, + { + "acceleration": 2.0, + "curvature": -27.189129255565312, + "pose": { + "rotation": { + "radians": -1.721591821579909 + }, + "translation": { + "x": 2.084782589244193, + "y": 1.96015579359872 + } + }, + "time": 0.32534018658725694, + "velocity": 0.6506803731745139 + }, + { + "acceleration": 1.99999999999999, + "curvature": -23.715608877026064, + "pose": { + "rotation": { + "radians": -1.7899311131774194 + }, + "translation": { + "x": 2.0842861347282615, + "y": 1.9575138092041016 + } + }, + "time": 0.32944568759418175, + "velocity": 0.6588913751883635 + }, + { + "acceleration": 1.9999999999999905, + "curvature": -20.564297760595313, + "pose": { + "rotation": { + "radians": -1.8519014546201618 + }, + "translation": { + "x": 2.0835901577092613, + "y": 1.9547978469303675 + } + }, + "time": 0.33367376156419803, + "velocity": 0.6673475231283961 + }, + { + "acceleration": 2.000000000000009, + "curvature": -17.77561362662137, + "pose": { + "rotation": { + "radians": -1.9079248174526673 + }, + "translation": { + "x": 2.0826974140228707, + "y": 1.9520089285714286 + } + }, + "time": 0.33803328085436823, + "velocity": 0.6760665617087365 + }, + { + "acceleration": 1.9999999999999913, + "curvature": -15.34939194805936, + "pose": { + "rotation": { + "radians": -1.9584991400142502 + }, + "translation": { + "x": 2.081610659504767, + "y": 1.949148075921195 + } + }, + "time": 0.3425300155823549, + "velocity": 0.6850600311647098 + }, + { + "acceleration": 2.000000000000004, + "curvature": -13.261968099207705, + "pose": { + "rotation": { + "radians": -2.0041453198490715 + }, + "translation": { + "x": 2.0803326499906283, + "y": 1.946216310773577 + } + }, + "time": 0.3471671396096597, + "velocity": 0.6943342792193195 + }, + { + "acceleration": 2.0, + "curvature": -9.960064242378673, + "pose": { + "rotation": { + "radians": -2.0826612981087287 + }, + "translation": { + "x": 2.0772138893169565, + "y": 1.9401441301618303 + } + }, + "time": 0.35686313753891696, + "velocity": 0.7137262750778339 + }, + { + "acceleration": 2.0, + "curvature": -7.572271287540442, + "pose": { + "rotation": { + "radians": -2.1471266820536146 + }, + "translation": { + "x": 2.073363178687276, + "y": 1.933800561087472 + } + }, + "time": 0.36711324850246235, + "velocity": 0.7342264970049247 + }, + { + "acceleration": 2.0, + "curvature": -5.841092214253132, + "pose": { + "rotation": { + "radians": -2.2005194053603585 + }, + "translation": { + "x": 2.0688025647870103, + "y": 1.9271937779017858 + } + }, + "time": 0.3778890540579677, + "velocity": 0.7557781081159354 + }, + { + "acceleration": 2.0, + "curvature": -3.6335580164415155, + "pose": { + "rotation": { + "radians": -2.2828580802251603 + }, + "translation": { + "x": 2.0576398139164076, + "y": 1.9132232666015625 + } + }, + "time": 0.4008523319995877, + "velocity": 0.8017046639991754 + }, + { + "acceleration": 1.999999999999999, + "curvature": -2.3859297141582525, + "pose": { + "rotation": { + "radians": -2.3425427551974622 + }, + "translation": { + "x": 2.0439020101885244, + "y": 1.8982979910714286 + } + }, + "time": 0.4254031446723092, + "velocity": 0.8508062893446184 + }, + { + "acceleration": 0.7808367222958948, + "curvature": -1.168289411927801, + "pose": { + "rotation": { + "radians": -2.421478774741803 + }, + "translation": { + "x": 2.009406738094417, + "y": 1.8658447265625 + } + }, + "time": 0.47783848230722326, + "velocity": 0.9556769646144465 + }, + { + "acceleration": 0.0, + "curvature": -0.6431002814234164, + "pose": { + "rotation": { + "radians": -2.4696243980699735 + }, + "translation": { + "x": 1.9667277363716913, + "y": 1.8303571428571428 + } + }, + "time": 0.5346019952414388, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3779012277135409, + "pose": { + "rotation": { + "radians": -2.5004899928645394 + }, + "translation": { + "x": 1.91727599288735, + "y": 1.7923583984375 + } + }, + "time": 0.5969668852927363, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.22532033615872268, + "pose": { + "rotation": { + "radians": -2.520473960338245 + }, + "translation": { + "x": 1.8624624955083964, + "y": 1.7523716517857142 + } + }, + "time": 0.6648156833860457, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.1259503451160458, + "pose": { + "rotation": { + "radians": -2.5328615989649164 + }, + "translation": { + "x": 1.803698232101834, + "y": 1.7109200613839286 + } + }, + "time": 0.7367286377166338, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.05185978219205503, + "pose": { + "rotation": { + "radians": -2.539376314483957 + }, + "translation": { + "x": 1.7423941905346658, + "y": 1.6685267857142856 + } + }, + "time": 0.8112630279970368, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.012741582075827209, + "pose": { + "rotation": { + "radians": -2.540833425387097 + }, + "translation": { + "x": 1.679961358673895, + "y": 1.6257149832589286 + } + }, + "time": 0.8869644739781525, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.07962494904972009, + "pose": { + "rotation": { + "radians": -2.5374069641008212 + }, + "translation": { + "x": 1.617810724386525, + "y": 1.5830078125 + } + }, + "time": 0.9623740474854646, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.16149941110125976, + "pose": { + "rotation": { + "radians": -2.5286828834769617 + }, + "translation": { + "x": 1.557353275539559, + "y": 1.5409284319196428 + } + }, + "time": 1.0360339238844247, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.27767872853960485, + "pose": { + "rotation": { + "radians": -2.5135302822409846 + }, + "translation": { + "x": 1.4999999999999996, + "y": 1.5 + } + }, + "time": 1.1064933785694948, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3190043061414333, + "pose": { + "rotation": { + "radians": -2.493845124623491 + }, + "translation": { + "x": 1.4468796880614505, + "y": 1.4606410435267858 + } + }, + "time": 1.172606123143511, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3644631920280974, + "pose": { + "rotation": { + "radians": -2.4727646530940817 + }, + "translation": { + "x": 1.3979923397239105, + "y": 1.4228515625 + } + }, + "time": 1.2343962332239258, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.4641994068544357, + "pose": { + "rotation": { + "radians": -2.426610188308126 + }, + "translation": { + "x": 1.3117877435582568, + "y": 1.3515625 + } + }, + "time": 1.3462593765384794, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.5623714732537684, + "pose": { + "rotation": { + "radians": -2.376121674237115 + }, + "translation": { + "x": 1.2391286309158336, + "y": 1.2852957589285714 + } + }, + "time": 1.4445987258459265, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6302381313589197, + "pose": { + "rotation": { + "radians": -2.3237592010084906 + }, + "translation": { + "x": 1.1777574212094364, + "y": 1.2232142857142856 + } + }, + "time": 1.5318943998354357, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6275740592678156, + "pose": { + "rotation": { + "radians": -2.273676363647106 + }, + "translation": { + "x": 1.1254165338518594, + "y": 1.1644810267857144 + } + }, + "time": 1.6105656410468794, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.5184108857125409, + "pose": { + "rotation": { + "radians": -2.231450857835951 + }, + "translation": { + "x": 1.0798483882558978, + "y": 1.1082589285714286 + } + }, + "time": 1.68293538763115, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.29618604794063763, + "pose": { + "rotation": { + "radians": -2.203006515292095 + }, + "translation": { + "x": 1.0387954038343463, + "y": 1.0537109375 + } + }, + "time": 1.751205665643216, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 3.8924307326238546e-15, + "pose": { + "rotation": { + "radians": -2.1929446786425015 + }, + "translation": { + "x": 1.0000000000000002, + "y": 1.0 + } + }, + "time": 1.817462349576227, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2961860479406326, + "pose": { + "rotation": { + "radians": -2.203006515292096 + }, + "translation": { + "x": 0.9612045961656538, + "y": 0.9462890625 + } + }, + "time": 1.883719033509238, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.5184108857125374, + "pose": { + "rotation": { + "radians": -2.2314508578359513 + }, + "translation": { + "x": 0.9201516117441024, + "y": 0.8917410714285714 + } + }, + "time": 1.951989311521304, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6275740592678127, + "pose": { + "rotation": { + "radians": -2.2736763636471062 + }, + "translation": { + "x": 0.8745834661481408, + "y": 0.8355189732142857 + } + }, + "time": 2.0243590581055746, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6302381313589182, + "pose": { + "rotation": { + "radians": -2.3237592010084906 + }, + "translation": { + "x": 0.8222425787905638, + "y": 0.7767857142857143 + } + }, + "time": 2.1030302993170182, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.5623714732537682, + "pose": { + "rotation": { + "radians": -2.3761216742371145 + }, + "translation": { + "x": 0.7608713690841664, + "y": 0.7147042410714286 + } + }, + "time": 2.1903259733065275, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.4641994068544356, + "pose": { + "rotation": { + "radians": -2.426610188308126 + }, + "translation": { + "x": 0.6882122564417434, + "y": 0.6484375 + } + }, + "time": 2.2886653226139746, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3644631920280975, + "pose": { + "rotation": { + "radians": -2.4727646530940817 + }, + "translation": { + "x": 0.6020076602760897, + "y": 0.5771484375 + } + }, + "time": 2.400528465928528, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.31900430614143327, + "pose": { + "rotation": { + "radians": -2.493845124623491 + }, + "translation": { + "x": 0.5531203119385497, + "y": 0.5393589564732143 + } + }, + "time": 2.462318576008943, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2776787285396064, + "pose": { + "rotation": { + "radians": -2.513530282240984 + }, + "translation": { + "x": 0.5000000000000001, + "y": 0.5 + } + }, + "time": 2.52843132058296, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.16149941110126012, + "pose": { + "rotation": { + "radians": -2.5286828834769617 + }, + "translation": { + "x": 0.44264672446044084, + "y": 0.45907156808035715 + } + }, + "time": 2.59889077526803, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.07962494904972045, + "pose": { + "rotation": { + "radians": -2.537406964100821 + }, + "translation": { + "x": 0.3821892756134746, + "y": 0.4169921875 + } + }, + "time": 2.6725506516669904, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.012741582075827595, + "pose": { + "rotation": { + "radians": -2.5408334253870968 + }, + "translation": { + "x": 0.32003864132610454, + "y": 0.3742850167410714 + } + }, + "time": 2.7479602251743023, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.05185978219205491, + "pose": { + "rotation": { + "radians": -2.539376314483957 + }, + "translation": { + "x": 0.25760580946533385, + "y": 0.3314732142857143 + } + }, + "time": 2.823661671155418, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.12595034511604572, + "pose": { + "rotation": { + "radians": -2.532861598964916 + }, + "translation": { + "x": 0.19630176789816578, + "y": 0.28907993861607145 + } + }, + "time": 2.898196061435821, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.22532033615872293, + "pose": { + "rotation": { + "radians": -2.5204739603382444 + }, + "translation": { + "x": 0.13753750449160335, + "y": 0.2476283482142857 + } + }, + "time": 2.970109015766409, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.37790122771354123, + "pose": { + "rotation": { + "radians": -2.500489992864539 + }, + "translation": { + "x": 0.08272400711264993, + "y": 0.2076416015625 + } + }, + "time": 3.0379578138597183, + "velocity": 1.0 + }, + { + "acceleration": -0.7808367222958574, + "curvature": 0.643100281423417, + "pose": { + "rotation": { + "radians": -2.469624398069973 + }, + "translation": { + "x": 0.03327226362830871, + "y": 0.16964285714285715 + } + }, + "time": 3.100322703911016, + "velocity": 1.0 + }, + { + "acceleration": -2.0000000000000013, + "curvature": 1.1682894119278024, + "pose": { + "rotation": { + "radians": -2.4214787747418027 + }, + "translation": { + "x": -0.009406738094417166, + "y": 0.1341552734375 + } + }, + "time": 3.1570862168452316, + "velocity": 0.9556769646144485 + }, + { + "acceleration": -1.9999999999999973, + "curvature": 2.3859297141582556, + "pose": { + "rotation": { + "radians": -2.3425427551974622 + }, + "translation": { + "x": -0.043902010188524576, + "y": 0.10170200892857145 + } + }, + "time": 3.209521554480146, + "velocity": 0.8508062893446202 + }, + { + "acceleration": -2.0, + "curvature": 3.6335580164415213, + "pose": { + "rotation": { + "radians": -2.2828580802251595 + }, + "translation": { + "x": -0.05763981391640782, + "y": 0.0867767333984375 + } + }, + "time": 3.2340723671528675, + "velocity": 0.8017046639991773 + }, + { + "acceleration": -2.0, + "curvature": 5.841092214253137, + "pose": { + "rotation": { + "radians": -2.200519405360358 + }, + "translation": { + "x": -0.06880256478701008, + "y": 0.07280622209821425 + } + }, + "time": 3.2570356450944873, + "velocity": 0.7557781081159377 + }, + { + "acceleration": -1.9999999999999925, + "curvature": 7.5722712875404525, + "pose": { + "rotation": { + "radians": -2.1471266820536137 + }, + "translation": { + "x": -0.07336317868727615, + "y": 0.06619943891252789 + } + }, + "time": 3.267811450649993, + "velocity": 0.7342264970049263 + }, + { + "acceleration": -1.999999999999996, + "curvature": 9.960064242378692, + "pose": { + "rotation": { + "radians": -2.082661298108728 + }, + "translation": { + "x": -0.07721388931695627, + "y": 0.05985586983816965 + } + }, + "time": 3.2780615616135376, + "velocity": 0.7137262750778367 + }, + { + "acceleration": -2.0, + "curvature": 13.261968099207715, + "pose": { + "rotation": { + "radians": -2.004145319849071 + }, + "translation": { + "x": -0.0803326499906285, + "y": 0.05378368922642296 + } + }, + "time": 3.287757559542795, + "velocity": 0.6943342792193219 + }, + { + "acceleration": -1.999999999999991, + "curvature": 15.349391948059386, + "pose": { + "rotation": { + "radians": -1.9584991400142493 + }, + "translation": { + "x": -0.08161065950476731, + "y": 0.05085192407880512 + } + }, + "time": 3.2923946835700995, + "velocity": 0.6850600311647128 + }, + { + "acceleration": -2.0000000000000093, + "curvature": 17.775613626621393, + "pose": { + "rotation": { + "radians": -1.9079248174526666 + }, + "translation": { + "x": -0.0826974140228709, + "y": 0.0479910714285714 + } + }, + "time": 3.2968914182980864, + "velocity": 0.6760665617087386 + }, + { + "acceleration": -2.0, + "curvature": 20.564297760595316, + "pose": { + "rotation": { + "radians": -1.8519014546201613 + }, + "translation": { + "x": -0.08359015770926148, + "y": 0.04520215306963238 + } + }, + "time": 3.3012509375882564, + "velocity": 0.6673475231283984 + }, + { + "acceleration": -2.00000000000001, + "curvature": 23.715608877026085, + "pose": { + "rotation": { + "radians": -1.7899311131774183 + }, + "translation": { + "x": -0.0842861347282613, + "y": 0.04248619079589844 + } + }, + "time": 3.3054790115582726, + "velocity": 0.6588913751883662 + }, + { + "acceleration": -2.0, + "curvature": 27.189129255565305, + "pose": { + "rotation": { + "radians": -1.7215918215799086 + }, + "translation": { + "x": -0.08478258924419291, + "y": 0.03984420640127995 + } + }, + "time": 3.3095845125651975, + "velocity": 0.6506803731745161 + }, + { + "acceleration": -2.0, + "curvature": 30.883290083634527, + "pose": { + "rotation": { + "radians": -1.6466125428161849 + }, + "translation": { + "x": -0.08507676542137821, + "y": 0.0372772216796875 + } + }, + "time": 3.3135799450469086, + "velocity": 0.6426895082110943 + }, + { + "acceleration": -1.9999999999999771, + "curvature": 34.61643207697983, + "pose": { + "rotation": { + "radians": -1.5649684441271745 + }, + "translation": { + "x": -0.08516590742413976, + "y": 0.03478625842503141 + } + }, + "time": 3.317481959084308, + "velocity": 0.634885480136296 + }, + { + "acceleration": -2.0, + "curvature": 36.41673084842612, + "pose": { + "rotation": { + "radians": -1.5217325782212103 + }, + "translation": { + "x": -0.08513272941146222, + "y": 0.033569604158401434 + } + }, + "time": 3.3194048318552505, + "velocity": 0.6310397345944112 + }, + { + "acceleration": -2.0, + "curvature": 38.11965972183798, + "pose": { + "rotation": { + "radians": -1.4769856740539578 + }, + "translation": { + "x": -0.08504725941679958, + "y": 0.03237233843122206 + } + }, + "time": 3.3213127190597223, + "velocity": 0.6272239601854677 + }, + { + "acceleration": -1.9999999999999765, + "curvature": 39.680953596251996, + "pose": { + "rotation": { + "radians": -1.4308383360767607 + }, + "translation": { + "x": -0.08490915296069201, + "y": 0.031194588967731973 + } + }, + "time": 3.323209035685624, + "velocity": 0.6234313269336637 + }, + { + "acceleration": -1.9999999999999762, + "curvature": 41.05512178928634, + "pose": { + "rotation": { + "radians": -1.3834320579244794 + }, + "translation": { + "x": -0.08471806556368011, + "y": 0.03003648349217003 + } + }, + "time": 3.325097504530002, + "velocity": 0.6196543892449078 + }, + { + "acceleration": -1.999999999999976, + "curvature": 42.19798317269199, + "pose": { + "rotation": { + "radians": -1.3349387553534076 + }, + "translation": { + "x": -0.0844736527463037, + "y": 0.028898149728775024 + } + }, + "time": 3.326982150396034, + "velocity": 0.6158850975128444 + }, + { + "acceleration": -2.0, + "curvature": 43.0695549065878, + "pose": { + "rotation": { + "radians": -1.2855587029566669 + }, + "translation": { + "x": -0.08417557002910336, + "y": 0.027779715401785754 + } + }, + "time": 3.3288672891522357, + "velocity": 0.6121148200004412 + }, + { + "acceleration": -2.000000000000024, + "curvature": 43.63700751994001, + "pose": { + "rotation": { + "radians": -1.2355167832596736 + }, + "translation": { + "x": -0.08382347293261927, + "y": 0.026681308235441015 + } + }, + "time": 3.3307575117143924, + "velocity": 0.6083343748761276 + }, + { + "acceleration": -2.0, + "curvature": 43.877330084679706, + "pose": { + "rotation": { + "radians": -1.1850571236540008 + }, + "translation": { + "x": -0.0834170169773919, + "y": 0.025603055953979437 + } + }, + "time": 3.332657663350649, + "velocity": 0.604534071603615 + }, + { + "acceleration": -2.0, + "curvature": 43.77933999343348, + "pose": { + "rotation": { + "radians": -1.1344363808123417 + }, + "translation": { + "x": -0.08295585768396119, + "y": 0.02454508628164015 + } + }, + "time": 3.3345728190638066, + "velocity": 0.6007037601772995 + }, + { + "acceleration": -2.000000000000024, + "curvature": 43.34473637514813, + "pose": { + "rotation": { + "radians": -1.083916102572679 + }, + "translation": { + "x": -0.0824396505728675, + "y": 0.023507526942661783 + } + }, + "time": 3.3365082561315424, + "velocity": 0.5968328860418279 + }, + { + "acceleration": -1.9999999999999765, + "curvature": 42.588028498451074, + "pose": { + "rotation": { + "radians": -1.0337547208598437 + }, + "translation": { + "x": -0.08186805116465157, + "y": 0.02249050566128319 + } + }, + "time": 3.3384694251434603, + "velocity": 0.5929105480179918 + }, + { + "acceleration": -2.000000000000023, + "curvature": 41.53534355364406, + "pose": { + "rotation": { + "radians": -0.9841997802056115 + }, + "translation": { + "x": -0.08124071497985308, + "y": 0.021494150161743164 + } + }, + "time": 3.34046192102962, + "velocity": 0.5889255562456722 + }, + { + "acceleration": -2.000000000000023, + "curvature": 40.22229122406194, + "pose": { + "rotation": { + "radians": -0.935480973766528 + }, + "translation": { + "x": -0.08055729753901275, + "y": 0.020518588168280505 + } + }, + "time": 3.3424914556093235, + "velocity": 0.5848664870862655 + }, + { + "acceleration": -1.9999999999999774, + "curvature": 38.69119447654324, + "pose": { + "rotation": { + "radians": -0.887804449537211 + }, + "translation": { + "x": -0.07981745436267063, + "y": 0.019563947405134008 + } + }, + "time": 3.3445638331015197, + "velocity": 0.5807217321018726 + }, + { + "acceleration": -1.9999999999999778, + "curvature": 36.98805943666322, + "pose": { + "rotation": { + "radians": -0.8413486868007395 + }, + "translation": { + "x": -0.07902084097136686, + "y": 0.018630355596542303 + } + }, + "time": 3.3466849298480974, + "velocity": 0.5764795386087174 + }, + { + "acceleration": -1.9999999999999891, + "curvature": 35.15964570660894, + "pose": { + "rotation": { + "radians": -0.7962620588663976 + }, + "translation": { + "x": -0.07816711288564204, + "y": 0.01771794046674452 + } + }, + "time": 3.348860679241734, + "velocity": 0.5721280398214441 + }, + { + "acceleration": -2.00000000000001, + "curvature": 31.303118282225007, + "pose": { + "rotation": { + "radians": -0.7106357578709402 + }, + "translation": { + "x": -0.07628693471309012, + "y": 0.01595715114048546 + } + }, + "time": 3.3533990574136796, + "velocity": 0.5630512834775531 + }, + { + "acceleration": -1.9999999999999902, + "curvature": 27.428995177461147, + "pose": { + "rotation": { + "radians": -0.6315132855442873 + }, + "translation": { + "x": -0.07417416400933685, + "y": 0.0142826012202672 + } + }, + "time": 3.3582285130328335, + "velocity": 0.5533923722392453 + }, + { + "acceleration": -2.0, + "curvature": 23.75624189265796, + "pose": { + "rotation": { + "radians": -0.5590722011057767 + }, + "translation": { + "x": -0.07182604493870459, + "y": 0.012695312499999944 + } + }, + "time": 3.363398460204786, + "velocity": 0.5430524778953406 + }, + { + "acceleration": -1.9999999999999911, + "curvature": 20.414249721574574, + "pose": { + "rotation": { + "radians": -0.4931797061696271 + }, + "translation": { + "x": -0.06923982166551546, + "y": 0.0111963067735944 + } + }, + "time": 3.36895993414091, + "velocity": 0.5319295300230922 + }, + { + "acceleration": -1.9999999999999918, + "curvature": 17.459934497401907, + "pose": { + "rotation": { + "radians": -0.4334957798412308 + }, + "translation": { + "x": -0.06641273835409178, + "y": 0.009786605834960938 + } + }, + "time": 3.374966631861679, + "velocity": 0.5199161345815548 + }, + { + "acceleration": -2.0, + "curvature": 14.9001811661835, + "pose": { + "rotation": { + "radians": -0.3795612382681966 + }, + "translation": { + "x": -0.0633420391687558, + "y": 0.008467231478009984 + } + }, + "time": 3.381476380148027, + "velocity": 0.5068966380088588 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 12.711979997378924, + "pose": { + "rotation": { + "radians": -0.33086402033744416 + }, + "translation": { + "x": -0.06002496827382975, + "y": 0.007239205496651802 + } + }, + "time": 3.388553109477197, + "velocity": 0.4927431793505188 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 9.293401276465811, + "pose": { + "rotation": { + "radians": -0.2471227409523188 + }, + "translation": { + "x": -0.052640688012496994, + "y": 0.005061285836356011 + } + }, + "time": 3.4047069789966478, + "velocity": 0.46043544031161765 + }, + { + "acceleration": -2.0000000000000013, + "curvature": 6.87086543118763, + "pose": { + "rotation": { + "radians": -0.17844137117241632 + }, + "translation": { + "x": -0.04423785088467114, + "y": 0.0032610212053570953 + } + }, + "time": 3.424195782221518, + "velocity": 0.42145783386187696 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 5.153442078046409, + "pose": { + "rotation": { + "radians": -0.1216295798723478 + }, + "translation": { + "x": -0.03479441020493046, + "y": 0.0018465859549386399 + } + }, + "time": 3.4482220037806184, + "velocity": 0.37340539074367585 + }, + { + "acceleration": -1.9999999999999998, + "curvature": 3.9250768863984966, + "pose": { + "rotation": { + "radians": -0.07417082549076627 + }, + "translation": { + "x": -0.02428831928785291, + "y": 0.0008261544363838969 + } + }, + "time": 3.479032538249631, + "velocity": 0.31178432180564974 + }, + { + "acceleration": -1.9999999999999998, + "curvature": 2.3809523809523805, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 0.0, + "y": 0.0 + } + }, + "time": 3.634924699152456, + "velocity": 0.0 + } + ] +} \ No newline at end of file diff --git a/autonomous/routines/routine_2/trajectory_1.json b/autonomous/routines/routine_2/trajectory_1.json new file mode 100644 index 0000000..7c74cea --- /dev/null +++ b/autonomous/routines/routine_2/trajectory_1.json @@ -0,0 +1,857 @@ +[ + { + "acceleration":2.0000000000000004, + "curvature":2.3809523809523814, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":0.0, + "y":0.0 + } + }, + "time":0.0, + "velocity":0.0 + }, + { + "acceleration":2.000000000000001, + "curvature":2.595325966847042, + "pose":{ + "rotation":{ + "radians":0.06460283167616494 + }, + "translation":{ + "x":0.025940628160620836, + "y":0.0008261544363839286 + } + }, + "time":0.1611017705266734, + "velocity":0.32220354105334686 + }, + { + "acceleration":1.999999999999999, + "curvature":2.787492742305355, + "pose":{ + "rotation":{ + "radians":0.13177918578963022 + }, + "translation":{ + "x":0.05075989329538541, + "y":0.003261021205357143 + } + }, + "time":0.22559298431162372, + "velocity":0.45118596862324756 + }, + { + "acceleration":2.0, + "curvature":2.9449252494021136, + "pose":{ + "rotation":{ + "radians":0.20086675304867105 + }, + "translation":{ + "x":0.07450337926713341, + "y":0.007239205496651787 + } + }, + "time":0.27380037105598976, + "velocity":0.5476007421119795 + }, + { + "acceleration":2.0000000000000013, + "curvature":3.0563610293310313, + "pose":{ + "rotation":{ + "radians":0.271067404114427 + }, + "translation":{ + "x":0.09721666993870451, + "y":0.0126953125 + } + }, + "time":0.3135698756503563, + "velocity":0.6271397513007126 + }, + { + "acceleration":2.0000000000000013, + "curvature":3.1135922042633504, + "pose":{ + "rotation":{ + "radians":0.34148963883778916 + }, + "translation":{ + "x":0.11894534917293839, + "y":0.01956394740513393 + } + }, + "time":0.34801511627663584, + "velocity":0.6960302325532717 + }, + { + "acceleration":2.0, + "curvature":3.112845373687687, + "pose":{ + "rotation":{ + "radians":0.4112057410202867 + }, + "translation":{ + "x":0.13973500083267476, + "y":0.02777971540178572 + } + }, + "time":0.3787725979355451, + "velocity":0.7575451958710901 + }, + { + "acceleration":2.0, + "curvature":3.055332259900253, + "pose":{ + "rotation":{ + "radians":0.4793147718377678 + }, + "translation":{ + "x":0.15963120878075332, + "y":0.0372772216796875 + } + }, + "time":0.4068359476982932, + "velocity":0.8136718953965864 + }, + { + "acceleration":2.0, + "curvature":2.9468175976334776, + "pose":{ + "rotation":{ + "radians":0.5450007702314661 + }, + "translation":{ + "x":0.1786795568800137, + "y":0.04799107142857143 + } + }, + "time":0.43286273556068766, + "velocity":0.8657254711213753 + }, + { + "acceleration":2.0000000000000027, + "curvature":2.796384020129445, + "pose":{ + "rotation":{ + "radians":0.6075769725261475 + }, + "translation":{ + "x":0.19692562899329563, + "y":0.059855869838169644 + } + }, + "time":0.45731239630972664, + "velocity":0.9146247926194533 + }, + { + "acceleration":1.749932129781575, + "curvature":2.6148056057208007, + "pose":{ + "rotation":{ + "radians":0.666510847769103 + }, + "translation":{ + "x":0.21441500898343874, + "y":0.07280622209821429 + } + }, + "time":0.48051717108354774, + "velocity":0.9610343421670956 + }, + { + "acceleration":0.0, + "curvature":2.4129782382963043, + "pose":{ + "rotation":{ + "radians":0.7214295479787702 + }, + "translation":{ + "x":0.23119328071328277, + "y":0.0867767333984375 + } + }, + "time":0.5027841248526451, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":2.2007240886301007, + "pose":{ + "rotation":{ + "radians":0.7721092401780296 + }, + "translation":{ + "x":0.24730602804566743, + "y":0.10170200892857144 + } + }, + "time":0.524747377713906, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.9860923592042752, + "pose":{ + "rotation":{ + "radians":0.8184537703343066 + }, + "translation":{ + "x":0.26279883484343236, + "y":0.11751665387834821 + } + }, + "time":0.5468862588365004, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.7751158042945765, + "pose":{ + "rotation":{ + "radians":0.8604682380066073 + }, + "translation":{ + "x":0.2777172849694172, + "y":0.1341552734375 + } + }, + "time":0.5692336035332577, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.378877735802265, + "pose":{ + "rotation":{ + "radians":0.9318738882940065 + }, + "translation":{ + "x":0.3060134506574056, + "y":0.16964285714285715 + } + }, + "time":0.6146212845699313, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":1.0269790123916365, + "pose":{ + "rotation":{ + "radians":0.9874352146007722 + }, + "translation":{ + "x":0.33255919601235007, + "y":0.2076416015625 + } + }, + "time":0.6609740749273509, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.7184011472705635, + "pose":{ + "rotation":{ + "radians":1.028489463266511 + }, + "translation":{ + "x":0.357719191936968, + "y":0.24762834821428573 + } + }, + "time":0.7082177549567569, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.1930851987713053, + "pose":{ + "rotation":{ + "radians":1.0716201459130537 + }, + "translation":{ + "x":0.40534061910609465, + "y":0.3314732142857143 + } + }, + "time":0.8046426578198671, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2916630807647434, + "pose":{ + "rotation":{ + "radians":1.0669149846908788 + }, + "translation":{ + "x":0.4517950993865254, + "y":0.41699218749999994 + } + }, + "time":0.9019643589853864, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.837092751266262, + "pose":{ + "rotation":{ + "radians":1.0137255642722038 + }, + "translation":{ + "x":0.5, + "y":0.5 + } + }, + "time":0.9979539906087557, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.800067132725784, + "pose":{ + "rotation":{ + "radians":0.9371365584178165 + }, + "translation":{ + "x":0.5522892147239105, + "y":0.5771484375 + } + }, + "time":1.0911529358020067, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.7305970666123351, + "pose":{ + "rotation":{ + "radians":0.8673303065438499 + }, + "translation":{ + "x":0.6086627435582567, + "y":0.6484375 + } + }, + "time":1.1820380566159538, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.6353268212231772, + "pose":{ + "rotation":{ + "radians":0.8061523795916493 + }, + "translation":{ + "x":0.6685371130586908, + "y":0.7147042410714286 + } + }, + "time":1.2713477486728761, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.521996158571609, + "pose":{ + "rotation":{ + "radians":0.7549381802864602 + }, + "translation":{ + "x":0.7313288497808648, + "y":0.7767857142857143 + } + }, + "time":1.3596478705133521, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.3975528759100238, + "pose":{ + "rotation":{ + "radians":0.7145498145006239 + }, + "translation":{ + "x":0.7964544802804306, + "y":0.8355189732142857 + } + }, + "time":1.4473458947347484, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2671592856148399, + "pose":{ + "rotation":{ + "radians":0.6854795494256645 + }, + "translation":{ + "x":0.8633305311130404, + "y":0.8917410714285714 + } + }, + "time":1.5347148280153062, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.13405818704189948, + "pose":{ + "rotation":{ + "radians":0.6679716319317236 + }, + "translation":{ + "x":0.9313735288343461, + "y":0.9462890625 + } + }, + "time":1.6219233876228945, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.0, + "pose":{ + "rotation":{ + "radians":0.6621270389708964 + }, + "translation":{ + "x":0.9999999999999999, + "y":1.0 + } + }, + "time":1.7090695714279196, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.13405818704189962, + "pose":{ + "rotation":{ + "radians":0.6679716319317235 + }, + "translation":{ + "x":1.0686264711656537, + "y":1.0537109375 + } + }, + "time":1.7962157552329447, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.2671592856148402, + "pose":{ + "rotation":{ + "radians":0.6854795494256642 + }, + "translation":{ + "x":1.1366694688869594, + "y":1.1082589285714286 + } + }, + "time":1.883424314840533, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.3975528759100245, + "pose":{ + "rotation":{ + "radians":0.7145498145006239 + }, + "translation":{ + "x":1.2035455197195692, + "y":1.1644810267857144 + } + }, + "time":1.970793248121091, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.52199615857161, + "pose":{ + "rotation":{ + "radians":0.7549381802864603 + }, + "translation":{ + "x":1.2686711502191352, + "y":1.2232142857142858 + } + }, + "time":2.0584912723424873, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.6353268212231779, + "pose":{ + "rotation":{ + "radians":0.8061523795916495 + }, + "translation":{ + "x":1.3314628869413092, + "y":1.2852957589285716 + } + }, + "time":2.146791394182963, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.7305970666123357, + "pose":{ + "rotation":{ + "radians":0.8673303065438502 + }, + "translation":{ + "x":1.3913372564417432, + "y":1.3515625 + } + }, + "time":2.236101086239885, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.8000671327257849, + "pose":{ + "rotation":{ + "radians":0.937136558417817 + }, + "translation":{ + "x":1.4477107852760895, + "y":1.4228515625 + } + }, + "time":2.3269862070538325, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.8370927512662617, + "pose":{ + "rotation":{ + "radians":1.0137255642722043 + }, + "translation":{ + "x":1.5, + "y":1.5000000000000002 + } + }, + "time":2.420185152247084, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.2916630807647438, + "pose":{ + "rotation":{ + "radians":1.0669149846908788 + }, + "translation":{ + "x":1.5482049006134746, + "y":1.5830078125 + } + }, + "time":2.516174783870453, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.1930851987713047, + "pose":{ + "rotation":{ + "radians":1.0716201459130534 + }, + "translation":{ + "x":1.5946593808939054, + "y":1.6685267857142856 + } + }, + "time":2.6134964850359723, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.7184011472705635, + "pose":{ + "rotation":{ + "radians":1.028489463266511 + }, + "translation":{ + "x":1.642280808063032, + "y":1.7523716517857144 + } + }, + "time":2.7099213878990827, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.0269790123916358, + "pose":{ + "rotation":{ + "radians":0.9874352146007725 + }, + "translation":{ + "x":1.6674408039876498, + "y":1.7923583984375 + } + }, + "time":2.7571650679284883, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.378877735802265, + "pose":{ + "rotation":{ + "radians":0.9318738882940066 + }, + "translation":{ + "x":1.6939865493425943, + "y":1.8303571428571428 + } + }, + "time":2.803517858285908, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.7751158042945763, + "pose":{ + "rotation":{ + "radians":0.8604682380066074 + }, + "translation":{ + "x":1.7222827150305826, + "y":1.8658447265625 + } + }, + "time":2.8489055393225815, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-1.9860923592042752, + "pose":{ + "rotation":{ + "radians":0.8184537703343068 + }, + "translation":{ + "x":1.7372011651565675, + "y":1.882483346121652 + } + }, + "time":2.8712528840193388, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-2.2007240886301, + "pose":{ + "rotation":{ + "radians":0.7721092401780295 + }, + "translation":{ + "x":1.7526939719543324, + "y":1.8982979910714286 + } + }, + "time":2.893391765141933, + "velocity":1.0 + }, + { + "acceleration":-1.7499321297815522, + "curvature":-2.4129782382963048, + "pose":{ + "rotation":{ + "radians":0.7214295479787705 + }, + "translation":{ + "x":1.7688067192867172, + "y":1.9132232666015625 + } + }, + "time":2.915355018003194, + "velocity":1.0 + }, + { + "acceleration":-2.0000000000000027, + "curvature":-2.6148056057208007, + "pose":{ + "rotation":{ + "radians":0.6665108477691031 + }, + "translation":{ + "x":1.7855849910165613, + "y":1.9271937779017858 + } + }, + "time":2.9376219717722916, + "velocity":0.9610343421670957 + }, + { + "acceleration":-2.0, + "curvature":-2.796384020129447, + "pose":{ + "rotation":{ + "radians":0.6075769725261476 + }, + "translation":{ + "x":1.8030743710067043, + "y":1.9401441301618303 + } + }, + "time":2.9608267465461124, + "velocity":0.9146247926194542 + }, + { + "acceleration":-2.0, + "curvature":-2.946817597633479, + "pose":{ + "rotation":{ + "radians":0.5450007702314662 + }, + "translation":{ + "x":1.821320443119986, + "y":1.9520089285714286 + } + }, + "time":2.985276407295151, + "velocity":0.8657254711213762 + }, + { + "acceleration":-2.0000000000000027, + "curvature":-3.055332259900255, + "pose":{ + "rotation":{ + "radians":0.479314771837768 + }, + "translation":{ + "x":1.8403687912192466, + "y":1.9627227783203125 + } + }, + "time":3.011303195157546, + "velocity":0.8136718953965866 + }, + { + "acceleration":-2.0, + "curvature":-3.1128453736876884, + "pose":{ + "rotation":{ + "radians":0.41120574102028656 + }, + "translation":{ + "x":1.8602649991673252, + "y":1.9722202845982142 + } + }, + "time":3.0393665449202945, + "velocity":0.7575451958710898 + }, + { + "acceleration":-2.0000000000000013, + "curvature":-3.1135922042633504, + "pose":{ + "rotation":{ + "radians":0.34148963883778904 + }, + "translation":{ + "x":1.8810546508270616, + "y":1.9804360525948659 + } + }, + "time":3.070124026579204, + "velocity":0.696030232553271 + }, + { + "acceleration":-1.999999999999999, + "curvature":-3.056361029331032, + "pose":{ + "rotation":{ + "radians":0.27106740411442715 + }, + "translation":{ + "x":1.9027833300612955, + "y":1.9873046875 + } + }, + "time":3.1045692672054837, + "velocity":0.6271397513007115 + }, + { + "acceleration":-2.0, + "curvature":-2.9449252494021136, + "pose":{ + "rotation":{ + "radians":0.20086675304867097 + }, + "translation":{ + "x":1.9254966207328665, + "y":1.992760794503348 + } + }, + "time":3.1443387717998506, + "velocity":0.547600742111978 + }, + { + "acceleration":-1.9999999999999998, + "curvature":-2.7874927423053566, + "pose":{ + "rotation":{ + "radians":0.13177918578963033 + }, + "translation":{ + "x":1.9492401067046146, + "y":1.9967389787946428 + } + }, + "time":3.1925461585442165, + "velocity":0.45118596862324617 + }, + { + "acceleration":-2.0000000000000004, + "curvature":-2.595325966847042, + "pose":{ + "rotation":{ + "radians":0.06460283167616503 + }, + "translation":{ + "x":1.974059371839379, + "y":1.999173845563616 + } + }, + "time":3.2570373723291666, + "velocity":0.3222035410533462 + }, + { + "acceleration":-2.0000000000000004, + "curvature":-2.380952380952382, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":2.0, + "y":2.0 + } + }, + "time":3.4181391428558396, + "velocity":0.0 + } + ] \ No newline at end of file diff --git a/autonomous/routines/routine_2/trajectory_2.json b/autonomous/routines/routine_2/trajectory_2.json new file mode 100644 index 0000000..6f93e84 --- /dev/null +++ b/autonomous/routines/routine_2/trajectory_2.json @@ -0,0 +1,1787 @@ +[ + { + "acceleration":2.0, + "curvature":-2.3809523809523814, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":2.0, + "y":2.0 + } + }, + "time":0.0, + "velocity":0.0 + }, + { + "acceleration":2.0, + "curvature":-3.925076886398501, + "pose":{ + "rotation":{ + "radians":-0.07417082549076623 + }, + "translation":{ + "x":2.024288319287853, + "y":1.999173845563616 + } + }, + "time":0.1558921609028255, + "velocity":0.311784321805651 + }, + { + "acceleration":2.0, + "curvature":-5.153442078046409, + "pose":{ + "rotation":{ + "radians":-0.1216295798723478 + }, + "translation":{ + "x":2.0347944102049302, + "y":1.9981534140450614 + } + }, + "time":0.1867026953718375, + "velocity":0.373405390743675 + }, + { + "acceleration":2.0, + "curvature":-6.870865431187638, + "pose":{ + "rotation":{ + "radians":-0.17844137117241632 + }, + "translation":{ + "x":2.044237850884671, + "y":1.9967389787946428 + } + }, + "time":0.210728916930938, + "velocity":0.421457833861876 + }, + { + "acceleration":2.0, + "curvature":-9.293401276465815, + "pose":{ + "rotation":{ + "radians":-0.24712274095231881 + }, + "translation":{ + "x":2.052640688012497, + "y":1.9949387141636439 + } + }, + "time":0.23021772015580907, + "velocity":0.46043544031161815 + }, + { + "acceleration":2.0, + "curvature":-12.711979997378936, + "pose":{ + "rotation":{ + "radians":-0.33086402033744444 + }, + "translation":{ + "x":2.06002496827383, + "y":1.9927607945033483 + } + }, + "time":0.24637158967525977, + "velocity":0.49274317935051953 + }, + { + "acceleration":1.9999999999999918, + "curvature":-14.900181166183526, + "pose":{ + "rotation":{ + "radians":-0.379561238268197 + }, + "translation":{ + "x":2.063342039168756, + "y":1.9915327685219901 + } + }, + "time":0.25344831900442966, + "velocity":0.5068966380088593 + }, + { + "acceleration":2.0, + "curvature":-17.459934497401925, + "pose":{ + "rotation":{ + "radians":-0.4334957798412309 + }, + "translation":{ + "x":2.066412738354092, + "y":1.990213394165039 + } + }, + "time":0.25995806729077736, + "velocity":0.5199161345815547 + }, + { + "acceleration":1.9999999999999907, + "curvature":-20.414249721574603, + "pose":{ + "rotation":{ + "radians":-0.49317970616962725 + }, + "translation":{ + "x":2.0692398216655152, + "y":1.9888036932264055 + } + }, + "time":0.26596476501154587, + "velocity":0.5319295300230917 + }, + { + "acceleration":2.0, + "curvature":-23.75624189265799, + "pose":{ + "rotation":{ + "radians":-0.5590722011057766 + }, + "translation":{ + "x":2.0718260449387045, + "y":1.9873046875 + } + }, + "time":0.27152623894767053, + "velocity":0.5430524778953411 + }, + { + "acceleration":1.9999999999999898, + "curvature":-27.428995177461175, + "pose":{ + "rotation":{ + "radians":-0.6315132855442878 + }, + "translation":{ + "x":2.074174164009337, + "y":1.9857173987797327 + } + }, + "time":0.2766961861196231, + "velocity":0.5533923722392462 + }, + { + "acceleration":2.0, + "curvature":-31.303118282225075, + "pose":{ + "rotation":{ + "radians":-0.7106357578709409 + }, + "translation":{ + "x":2.07628693471309, + "y":1.9840428488595145 + } + }, + "time":0.2815256417387766, + "velocity":0.5630512834775532 + }, + { + "acceleration":2.000000000000022, + "curvature":-35.159645706609, + "pose":{ + "rotation":{ + "radians":-0.7962620588663979 + }, + "translation":{ + "x":2.0781671128856423, + "y":1.9822820595332555 + } + }, + "time":0.2860640199107224, + "velocity":0.5721280398214448 + }, + { + "acceleration":2.0, + "curvature":-36.988059436663285, + "pose":{ + "rotation":{ + "radians":-0.8413486868007399 + }, + "translation":{ + "x":2.079020840971367, + "y":1.9813696444034576 + } + }, + "time":0.2882397693043589, + "velocity":0.5764795386087178 + }, + { + "acceleration":1.9999999999999771, + "curvature":-38.6911944765433, + "pose":{ + "rotation":{ + "radians":-0.8878044495372119 + }, + "translation":{ + "x":2.0798174543626704, + "y":1.980436052594866 + } + }, + "time":0.2903608660509362, + "velocity":0.5807217321018724 + }, + { + "acceleration":2.000000000000023, + "curvature":-40.22229122406195, + "pose":{ + "rotation":{ + "radians":-0.9354809737665283 + }, + "translation":{ + "x":2.0805572975390128, + "y":1.9794814118317194 + } + }, + "time":0.2924332435431329, + "velocity":0.5848664870862658 + }, + { + "acceleration":1.9999999999999765, + "curvature":-41.535343553644125, + "pose":{ + "rotation":{ + "radians":-0.9841997802056122 + }, + "translation":{ + "x":2.0812407149798533, + "y":1.9785058498382568 + } + }, + "time":0.2944627781228363, + "velocity":0.5889255562456726 + }, + { + "acceleration":2.000000000000024, + "curvature":-42.588028498451095, + "pose":{ + "rotation":{ + "radians":-1.033754720859844 + }, + "translation":{ + "x":2.0818680511646517, + "y":1.9775094943387168 + } + }, + "time":0.29645527400899585, + "velocity":0.5929105480179917 + }, + { + "acceleration":2.0, + "curvature":-43.344736375148244, + "pose":{ + "rotation":{ + "radians":-1.0839161025726805 + }, + "translation":{ + "x":2.0824396505728675, + "y":1.976492473057338 + } + }, + "time":0.29841644302091386, + "velocity":0.5968328860418277 + }, + { + "acceleration":2.000000000000024, + "curvature":-43.77933999343355, + "pose":{ + "rotation":{ + "radians":-1.1344363808123423 + }, + "translation":{ + "x":2.0829558576839613, + "y":1.97545491371836 + } + }, + "time":0.30035188008864977, + "velocity":0.6007037601772995 + }, + { + "acceleration":1.999999999999976, + "curvature":-43.87733008467971, + "pose":{ + "rotation":{ + "radians":-1.1850571236540004 + }, + "translation":{ + "x":2.083417016977392, + "y":1.9743969440460205 + } + }, + "time":0.3022670358018074, + "velocity":0.6045340716036148 + }, + { + "acceleration":1.999999999999976, + "curvature":-43.637007519940035, + "pose":{ + "rotation":{ + "radians":-1.2355167832596747 + }, + "translation":{ + "x":2.0838234729326195, + "y":1.973318691764559 + } + }, + "time":0.30416718743806354, + "velocity":0.6083343748761271 + }, + { + "acceleration":2.0, + "curvature":-43.06955490658779, + "pose":{ + "rotation":{ + "radians":-1.2855587029566673 + }, + "translation":{ + "x":2.084175570029103, + "y":1.9722202845982142 + } + }, + "time":0.3060574100002201, + "velocity":0.6121148200004402 + }, + { + "acceleration":2.0, + "curvature":-42.197983172692034, + "pose":{ + "rotation":{ + "radians":-1.334938755353409 + }, + "translation":{ + "x":2.0844736527463037, + "y":1.971101850271225 + } + }, + "time":0.3079425487564216, + "velocity":0.6158850975128431 + }, + { + "acceleration":2.0, + "curvature":-41.0551217892863, + "pose":{ + "rotation":{ + "radians":-1.3834320579244797 + }, + "translation":{ + "x":2.08471806556368, + "y":1.96996351650783 + } + }, + "time":0.3098271946224532, + "velocity":0.6196543892449063 + }, + { + "acceleration":1.9999999999999767, + "curvature":-39.680953596252024, + "pose":{ + "rotation":{ + "radians":-1.4308383360767614 + }, + "translation":{ + "x":2.0849091529606922, + "y":1.968805411032268 + } + }, + "time":0.3117156634668311, + "velocity":0.6234313269336622 + }, + { + "acceleration":2.000000000000023, + "curvature":-38.11965972183801, + "pose":{ + "rotation":{ + "radians":-1.4769856740539584 + }, + "translation":{ + "x":2.0850472594167995, + "y":1.967627661568778 + } + }, + "time":0.31361198009273245, + "velocity":0.6272239601854649 + }, + { + "acceleration":2.0, + "curvature":-36.41673084842611, + "pose":{ + "rotation":{ + "radians":-1.5217325782212117 + }, + "translation":{ + "x":2.085132729411462, + "y":1.9664303958415985 + } + }, + "time":0.3155198672972044, + "velocity":0.6310397345944088 + }, + { + "acceleration":1.999999999999989, + "curvature":-34.61643207697982, + "pose":{ + "rotation":{ + "radians":-1.5649684441271747 + }, + "translation":{ + "x":2.0851659074241398, + "y":1.9652137415749686 + } + }, + "time":0.31744274006814643, + "velocity":0.6348854801362929 + }, + { + "acceleration":1.9999999999999893, + "curvature":-30.8832900836345, + "pose":{ + "rotation":{ + "radians":-1.646612542816186 + }, + "translation":{ + "x":2.085076765421378, + "y":1.9627227783203125 + } + }, + "time":0.3213447541055456, + "velocity":0.6426895082110912 + }, + { + "acceleration":2.0, + "curvature":-27.189129255565312, + "pose":{ + "rotation":{ + "radians":-1.721591821579909 + }, + "translation":{ + "x":2.084782589244193, + "y":1.96015579359872 + } + }, + "time":0.32534018658725694, + "velocity":0.6506803731745139 + }, + { + "acceleration":1.99999999999999, + "curvature":-23.715608877026064, + "pose":{ + "rotation":{ + "radians":-1.7899311131774194 + }, + "translation":{ + "x":2.0842861347282615, + "y":1.9575138092041016 + } + }, + "time":0.32944568759418175, + "velocity":0.6588913751883635 + }, + { + "acceleration":1.9999999999999905, + "curvature":-20.564297760595313, + "pose":{ + "rotation":{ + "radians":-1.8519014546201618 + }, + "translation":{ + "x":2.0835901577092613, + "y":1.9547978469303675 + } + }, + "time":0.33367376156419803, + "velocity":0.6673475231283961 + }, + { + "acceleration":2.000000000000009, + "curvature":-17.77561362662137, + "pose":{ + "rotation":{ + "radians":-1.9079248174526673 + }, + "translation":{ + "x":2.0826974140228707, + "y":1.9520089285714286 + } + }, + "time":0.33803328085436823, + "velocity":0.6760665617087365 + }, + { + "acceleration":1.9999999999999913, + "curvature":-15.34939194805936, + "pose":{ + "rotation":{ + "radians":-1.9584991400142502 + }, + "translation":{ + "x":2.081610659504767, + "y":1.949148075921195 + } + }, + "time":0.3425300155823549, + "velocity":0.6850600311647098 + }, + { + "acceleration":2.000000000000004, + "curvature":-13.261968099207705, + "pose":{ + "rotation":{ + "radians":-2.0041453198490715 + }, + "translation":{ + "x":2.0803326499906283, + "y":1.946216310773577 + } + }, + "time":0.3471671396096597, + "velocity":0.6943342792193195 + }, + { + "acceleration":2.0, + "curvature":-9.960064242378673, + "pose":{ + "rotation":{ + "radians":-2.0826612981087287 + }, + "translation":{ + "x":2.0772138893169565, + "y":1.9401441301618303 + } + }, + "time":0.35686313753891696, + "velocity":0.7137262750778339 + }, + { + "acceleration":2.0, + "curvature":-7.572271287540442, + "pose":{ + "rotation":{ + "radians":-2.1471266820536146 + }, + "translation":{ + "x":2.073363178687276, + "y":1.933800561087472 + } + }, + "time":0.36711324850246235, + "velocity":0.7342264970049247 + }, + { + "acceleration":2.0, + "curvature":-5.841092214253132, + "pose":{ + "rotation":{ + "radians":-2.2005194053603585 + }, + "translation":{ + "x":2.0688025647870103, + "y":1.9271937779017858 + } + }, + "time":0.3778890540579677, + "velocity":0.7557781081159354 + }, + { + "acceleration":2.0, + "curvature":-3.6335580164415155, + "pose":{ + "rotation":{ + "radians":-2.2828580802251603 + }, + "translation":{ + "x":2.0576398139164076, + "y":1.9132232666015625 + } + }, + "time":0.4008523319995877, + "velocity":0.8017046639991754 + }, + { + "acceleration":1.999999999999999, + "curvature":-2.3859297141582525, + "pose":{ + "rotation":{ + "radians":-2.3425427551974622 + }, + "translation":{ + "x":2.0439020101885244, + "y":1.8982979910714286 + } + }, + "time":0.4254031446723092, + "velocity":0.8508062893446184 + }, + { + "acceleration":0.7808367222958948, + "curvature":-1.168289411927801, + "pose":{ + "rotation":{ + "radians":-2.421478774741803 + }, + "translation":{ + "x":2.009406738094417, + "y":1.8658447265625 + } + }, + "time":0.47783848230722326, + "velocity":0.9556769646144465 + }, + { + "acceleration":0.0, + "curvature":-0.6431002814234164, + "pose":{ + "rotation":{ + "radians":-2.4696243980699735 + }, + "translation":{ + "x":1.9667277363716913, + "y":1.8303571428571428 + } + }, + "time":0.5346019952414388, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.3779012277135409, + "pose":{ + "rotation":{ + "radians":-2.5004899928645394 + }, + "translation":{ + "x":1.91727599288735, + "y":1.7923583984375 + } + }, + "time":0.5969668852927363, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.22532033615872268, + "pose":{ + "rotation":{ + "radians":-2.520473960338245 + }, + "translation":{ + "x":1.8624624955083964, + "y":1.7523716517857142 + } + }, + "time":0.6648156833860457, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.1259503451160458, + "pose":{ + "rotation":{ + "radians":-2.5328615989649164 + }, + "translation":{ + "x":1.803698232101834, + "y":1.7109200613839286 + } + }, + "time":0.7367286377166338, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.05185978219205503, + "pose":{ + "rotation":{ + "radians":-2.539376314483957 + }, + "translation":{ + "x":1.7423941905346658, + "y":1.6685267857142856 + } + }, + "time":0.8112630279970368, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.012741582075827209, + "pose":{ + "rotation":{ + "radians":-2.5408334253870972 + }, + "translation":{ + "x":1.679961358673895, + "y":1.6257149832589286 + } + }, + "time":0.8869644739781525, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.07962494904972009, + "pose":{ + "rotation":{ + "radians":-2.5374069641008212 + }, + "translation":{ + "x":1.617810724386525, + "y":1.5830078125 + } + }, + "time":0.9623740474854646, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.16149941110125976, + "pose":{ + "rotation":{ + "radians":-2.5286828834769617 + }, + "translation":{ + "x":1.557353275539559, + "y":1.5409284319196428 + } + }, + "time":1.0360339238844247, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.27767872853960485, + "pose":{ + "rotation":{ + "radians":-2.5135302822409846 + }, + "translation":{ + "x":1.4999999999999996, + "y":1.5 + } + }, + "time":1.1064933785694948, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.3190043061414333, + "pose":{ + "rotation":{ + "radians":-2.493845124623491 + }, + "translation":{ + "x":1.4468796880614505, + "y":1.4606410435267858 + } + }, + "time":1.172606123143511, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.3644631920280974, + "pose":{ + "rotation":{ + "radians":-2.4727646530940817 + }, + "translation":{ + "x":1.3979923397239105, + "y":1.4228515625 + } + }, + "time":1.2343962332239258, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.4641994068544357, + "pose":{ + "rotation":{ + "radians":-2.426610188308126 + }, + "translation":{ + "x":1.3117877435582568, + "y":1.3515625 + } + }, + "time":1.3462593765384794, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.5623714732537684, + "pose":{ + "rotation":{ + "radians":-2.376121674237115 + }, + "translation":{ + "x":1.2391286309158336, + "y":1.2852957589285714 + } + }, + "time":1.4445987258459265, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.6302381313589197, + "pose":{ + "rotation":{ + "radians":-2.3237592010084906 + }, + "translation":{ + "x":1.1777574212094364, + "y":1.2232142857142856 + } + }, + "time":1.5318943998354357, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.6275740592678156, + "pose":{ + "rotation":{ + "radians":-2.273676363647106 + }, + "translation":{ + "x":1.1254165338518594, + "y":1.1644810267857144 + } + }, + "time":1.6105656410468794, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.5184108857125409, + "pose":{ + "rotation":{ + "radians":-2.231450857835951 + }, + "translation":{ + "x":1.0798483882558978, + "y":1.1082589285714286 + } + }, + "time":1.68293538763115, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.29618604794063763, + "pose":{ + "rotation":{ + "radians":-2.203006515292095 + }, + "translation":{ + "x":1.0387954038343463, + "y":1.0537109375 + } + }, + "time":1.751205665643216, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":3.8924307326238546e-15, + "pose":{ + "rotation":{ + "radians":-2.1929446786425015 + }, + "translation":{ + "x":1.0000000000000002, + "y":1.0 + } + }, + "time":1.817462349576227, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2961860479406326, + "pose":{ + "rotation":{ + "radians":-2.203006515292096 + }, + "translation":{ + "x":0.9612045961656538, + "y":0.9462890625 + } + }, + "time":1.883719033509238, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.5184108857125374, + "pose":{ + "rotation":{ + "radians":-2.2314508578359513 + }, + "translation":{ + "x":0.9201516117441024, + "y":0.8917410714285714 + } + }, + "time":1.951989311521304, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.6275740592678127, + "pose":{ + "rotation":{ + "radians":-2.2736763636471062 + }, + "translation":{ + "x":0.8745834661481408, + "y":0.8355189732142857 + } + }, + "time":2.0243590581055746, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.6302381313589182, + "pose":{ + "rotation":{ + "radians":-2.3237592010084906 + }, + "translation":{ + "x":0.8222425787905638, + "y":0.7767857142857143 + } + }, + "time":2.1030302993170182, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.5623714732537682, + "pose":{ + "rotation":{ + "radians":-2.3761216742371145 + }, + "translation":{ + "x":0.7608713690841664, + "y":0.7147042410714286 + } + }, + "time":2.1903259733065275, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.4641994068544356, + "pose":{ + "rotation":{ + "radians":-2.426610188308126 + }, + "translation":{ + "x":0.6882122564417434, + "y":0.6484375 + } + }, + "time":2.2886653226139746, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.3644631920280975, + "pose":{ + "rotation":{ + "radians":-2.4727646530940817 + }, + "translation":{ + "x":0.6020076602760897, + "y":0.5771484375 + } + }, + "time":2.400528465928528, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.31900430614143327, + "pose":{ + "rotation":{ + "radians":-2.493845124623491 + }, + "translation":{ + "x":0.5531203119385497, + "y":0.5393589564732143 + } + }, + "time":2.462318576008943, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.2776787285396064, + "pose":{ + "rotation":{ + "radians":-2.513530282240984 + }, + "translation":{ + "x":0.5000000000000001, + "y":0.5 + } + }, + "time":2.52843132058296, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.16149941110126012, + "pose":{ + "rotation":{ + "radians":-2.5286828834769617 + }, + "translation":{ + "x":0.44264672446044084, + "y":0.45907156808035715 + } + }, + "time":2.59889077526803, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.07962494904972045, + "pose":{ + "rotation":{ + "radians":-2.537406964100821 + }, + "translation":{ + "x":0.3821892756134746, + "y":0.4169921875 + } + }, + "time":2.6725506516669904, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":-0.012741582075827595, + "pose":{ + "rotation":{ + "radians":-2.5408334253870968 + }, + "translation":{ + "x":0.32003864132610454, + "y":0.3742850167410714 + } + }, + "time":2.7479602251743023, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.05185978219205491, + "pose":{ + "rotation":{ + "radians":-2.539376314483957 + }, + "translation":{ + "x":0.25760580946533385, + "y":0.3314732142857143 + } + }, + "time":2.823661671155418, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.12595034511604572, + "pose":{ + "rotation":{ + "radians":-2.532861598964916 + }, + "translation":{ + "x":0.19630176789816578, + "y":0.28907993861607145 + } + }, + "time":2.898196061435821, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.22532033615872293, + "pose":{ + "rotation":{ + "radians":-2.5204739603382444 + }, + "translation":{ + "x":0.13753750449160335, + "y":0.2476283482142857 + } + }, + "time":2.970109015766409, + "velocity":1.0 + }, + { + "acceleration":0.0, + "curvature":0.37790122771354123, + "pose":{ + "rotation":{ + "radians":-2.500489992864539 + }, + "translation":{ + "x":0.08272400711264993, + "y":0.2076416015625 + } + }, + "time":3.0379578138597183, + "velocity":1.0 + }, + { + "acceleration":-0.7808367222958574, + "curvature":0.643100281423417, + "pose":{ + "rotation":{ + "radians":-2.469624398069973 + }, + "translation":{ + "x":0.03327226362830871, + "y":0.16964285714285715 + } + }, + "time":3.100322703911016, + "velocity":1.0 + }, + { + "acceleration":-2.0000000000000013, + "curvature":1.1682894119278024, + "pose":{ + "rotation":{ + "radians":-2.4214787747418027 + }, + "translation":{ + "x":-0.009406738094417166, + "y":0.1341552734375 + } + }, + "time":3.1570862168452316, + "velocity":0.9556769646144485 + }, + { + "acceleration":-1.9999999999999973, + "curvature":2.3859297141582556, + "pose":{ + "rotation":{ + "radians":-2.3425427551974622 + }, + "translation":{ + "x":-0.043902010188524576, + "y":0.10170200892857145 + } + }, + "time":3.209521554480146, + "velocity":0.8508062893446202 + }, + { + "acceleration":-2.0, + "curvature":3.6335580164415213, + "pose":{ + "rotation":{ + "radians":-2.2828580802251595 + }, + "translation":{ + "x":-0.05763981391640782, + "y":0.0867767333984375 + } + }, + "time":3.2340723671528675, + "velocity":0.8017046639991773 + }, + { + "acceleration":-2.0, + "curvature":5.841092214253137, + "pose":{ + "rotation":{ + "radians":-2.200519405360358 + }, + "translation":{ + "x":-0.06880256478701008, + "y":0.07280622209821425 + } + }, + "time":3.2570356450944873, + "velocity":0.7557781081159377 + }, + { + "acceleration":-1.9999999999999925, + "curvature":7.5722712875404525, + "pose":{ + "rotation":{ + "radians":-2.1471266820536137 + }, + "translation":{ + "x":-0.07336317868727615, + "y":0.06619943891252789 + } + }, + "time":3.267811450649993, + "velocity":0.7342264970049263 + }, + { + "acceleration":-1.999999999999996, + "curvature":9.960064242378692, + "pose":{ + "rotation":{ + "radians":-2.082661298108728 + }, + "translation":{ + "x":-0.07721388931695627, + "y":0.05985586983816965 + } + }, + "time":3.2780615616135376, + "velocity":0.7137262750778367 + }, + { + "acceleration":-2.0, + "curvature":13.261968099207715, + "pose":{ + "rotation":{ + "radians":-2.004145319849071 + }, + "translation":{ + "x":-0.0803326499906285, + "y":0.05378368922642296 + } + }, + "time":3.287757559542795, + "velocity":0.6943342792193219 + }, + { + "acceleration":-1.999999999999991, + "curvature":15.349391948059386, + "pose":{ + "rotation":{ + "radians":-1.9584991400142493 + }, + "translation":{ + "x":-0.08161065950476731, + "y":0.05085192407880512 + } + }, + "time":3.2923946835700995, + "velocity":0.6850600311647128 + }, + { + "acceleration":-2.0000000000000093, + "curvature":17.775613626621393, + "pose":{ + "rotation":{ + "radians":-1.9079248174526666 + }, + "translation":{ + "x":-0.0826974140228709, + "y":0.0479910714285714 + } + }, + "time":3.2968914182980864, + "velocity":0.6760665617087386 + }, + { + "acceleration":-2.0, + "curvature":20.564297760595316, + "pose":{ + "rotation":{ + "radians":-1.8519014546201613 + }, + "translation":{ + "x":-0.08359015770926148, + "y":0.04520215306963238 + } + }, + "time":3.3012509375882564, + "velocity":0.6673475231283984 + }, + { + "acceleration":-2.00000000000001, + "curvature":23.715608877026085, + "pose":{ + "rotation":{ + "radians":-1.7899311131774183 + }, + "translation":{ + "x":-0.0842861347282613, + "y":0.04248619079589844 + } + }, + "time":3.3054790115582726, + "velocity":0.6588913751883662 + }, + { + "acceleration":-2.0, + "curvature":27.189129255565305, + "pose":{ + "rotation":{ + "radians":-1.7215918215799086 + }, + "translation":{ + "x":-0.08478258924419291, + "y":0.03984420640127995 + } + }, + "time":3.3095845125651975, + "velocity":0.6506803731745161 + }, + { + "acceleration":-2.0, + "curvature":30.883290083634527, + "pose":{ + "rotation":{ + "radians":-1.6466125428161849 + }, + "translation":{ + "x":-0.08507676542137821, + "y":0.0372772216796875 + } + }, + "time":3.3135799450469086, + "velocity":0.6426895082110943 + }, + { + "acceleration":-1.9999999999999771, + "curvature":34.61643207697983, + "pose":{ + "rotation":{ + "radians":-1.5649684441271745 + }, + "translation":{ + "x":-0.08516590742413976, + "y":0.03478625842503141 + } + }, + "time":3.317481959084308, + "velocity":0.634885480136296 + }, + { + "acceleration":-2.0, + "curvature":36.41673084842612, + "pose":{ + "rotation":{ + "radians":-1.5217325782212103 + }, + "translation":{ + "x":-0.08513272941146222, + "y":0.033569604158401434 + } + }, + "time":3.3194048318552505, + "velocity":0.6310397345944112 + }, + { + "acceleration":-2.0, + "curvature":38.11965972183798, + "pose":{ + "rotation":{ + "radians":-1.4769856740539578 + }, + "translation":{ + "x":-0.08504725941679958, + "y":0.03237233843122206 + } + }, + "time":3.3213127190597223, + "velocity":0.6272239601854677 + }, + { + "acceleration":-1.9999999999999765, + "curvature":39.680953596251996, + "pose":{ + "rotation":{ + "radians":-1.4308383360767607 + }, + "translation":{ + "x":-0.08490915296069201, + "y":0.031194588967731973 + } + }, + "time":3.323209035685624, + "velocity":0.6234313269336637 + }, + { + "acceleration":-1.9999999999999762, + "curvature":41.05512178928634, + "pose":{ + "rotation":{ + "radians":-1.3834320579244794 + }, + "translation":{ + "x":-0.08471806556368011, + "y":0.03003648349217003 + } + }, + "time":3.325097504530002, + "velocity":0.6196543892449078 + }, + { + "acceleration":-1.999999999999976, + "curvature":42.19798317269199, + "pose":{ + "rotation":{ + "radians":-1.3349387553534076 + }, + "translation":{ + "x":-0.0844736527463037, + "y":0.028898149728775024 + } + }, + "time":3.326982150396034, + "velocity":0.6158850975128444 + }, + { + "acceleration":-2.0, + "curvature":43.0695549065878, + "pose":{ + "rotation":{ + "radians":-1.2855587029566669 + }, + "translation":{ + "x":-0.08417557002910336, + "y":0.027779715401785754 + } + }, + "time":3.3288672891522357, + "velocity":0.6121148200004412 + }, + { + "acceleration":-2.000000000000024, + "curvature":43.63700751994001, + "pose":{ + "rotation":{ + "radians":-1.2355167832596736 + }, + "translation":{ + "x":-0.08382347293261927, + "y":0.026681308235441015 + } + }, + "time":3.3307575117143924, + "velocity":0.6083343748761276 + }, + { + "acceleration":-2.0, + "curvature":43.877330084679706, + "pose":{ + "rotation":{ + "radians":-1.1850571236540008 + }, + "translation":{ + "x":-0.0834170169773919, + "y":0.025603055953979437 + } + }, + "time":3.332657663350649, + "velocity":0.604534071603615 + }, + { + "acceleration":-2.0, + "curvature":43.77933999343348, + "pose":{ + "rotation":{ + "radians":-1.1344363808123417 + }, + "translation":{ + "x":-0.08295585768396119, + "y":0.02454508628164015 + } + }, + "time":3.3345728190638066, + "velocity":0.6007037601772995 + }, + { + "acceleration":-2.000000000000024, + "curvature":43.34473637514813, + "pose":{ + "rotation":{ + "radians":-1.083916102572679 + }, + "translation":{ + "x":-0.0824396505728675, + "y":0.023507526942661783 + } + }, + "time":3.3365082561315424, + "velocity":0.5968328860418279 + }, + { + "acceleration":-1.9999999999999765, + "curvature":42.588028498451074, + "pose":{ + "rotation":{ + "radians":-1.0337547208598437 + }, + "translation":{ + "x":-0.08186805116465157, + "y":0.02249050566128319 + } + }, + "time":3.3384694251434603, + "velocity":0.5929105480179918 + }, + { + "acceleration":-2.000000000000023, + "curvature":41.53534355364406, + "pose":{ + "rotation":{ + "radians":-0.9841997802056115 + }, + "translation":{ + "x":-0.08124071497985308, + "y":0.021494150161743164 + } + }, + "time":3.34046192102962, + "velocity":0.5889255562456722 + }, + { + "acceleration":-2.000000000000023, + "curvature":40.22229122406194, + "pose":{ + "rotation":{ + "radians":-0.935480973766528 + }, + "translation":{ + "x":-0.08055729753901275, + "y":0.020518588168280505 + } + }, + "time":3.3424914556093235, + "velocity":0.5848664870862655 + }, + { + "acceleration":-1.9999999999999774, + "curvature":38.69119447654324, + "pose":{ + "rotation":{ + "radians":-0.887804449537211 + }, + "translation":{ + "x":-0.07981745436267063, + "y":0.019563947405134008 + } + }, + "time":3.3445638331015197, + "velocity":0.5807217321018726 + }, + { + "acceleration":-1.9999999999999778, + "curvature":36.98805943666322, + "pose":{ + "rotation":{ + "radians":-0.8413486868007395 + }, + "translation":{ + "x":-0.07902084097136686, + "y":0.018630355596542303 + } + }, + "time":3.3466849298480974, + "velocity":0.5764795386087174 + }, + { + "acceleration":-1.9999999999999891, + "curvature":35.15964570660894, + "pose":{ + "rotation":{ + "radians":-0.7962620588663976 + }, + "translation":{ + "x":-0.07816711288564204, + "y":0.01771794046674452 + } + }, + "time":3.348860679241734, + "velocity":0.5721280398214441 + }, + { + "acceleration":-2.00000000000001, + "curvature":31.303118282225007, + "pose":{ + "rotation":{ + "radians":-0.7106357578709402 + }, + "translation":{ + "x":-0.07628693471309012, + "y":0.01595715114048546 + } + }, + "time":3.3533990574136796, + "velocity":0.5630512834775531 + }, + { + "acceleration":-1.9999999999999902, + "curvature":27.428995177461147, + "pose":{ + "rotation":{ + "radians":-0.6315132855442873 + }, + "translation":{ + "x":-0.07417416400933685, + "y":0.0142826012202672 + } + }, + "time":3.3582285130328335, + "velocity":0.5533923722392453 + }, + { + "acceleration":-2.0, + "curvature":23.75624189265796, + "pose":{ + "rotation":{ + "radians":-0.5590722011057767 + }, + "translation":{ + "x":-0.07182604493870459, + "y":0.012695312499999944 + } + }, + "time":3.363398460204786, + "velocity":0.5430524778953406 + }, + { + "acceleration":-1.9999999999999911, + "curvature":20.414249721574574, + "pose":{ + "rotation":{ + "radians":-0.4931797061696271 + }, + "translation":{ + "x":-0.06923982166551546, + "y":0.0111963067735944 + } + }, + "time":3.36895993414091, + "velocity":0.5319295300230922 + }, + { + "acceleration":-1.9999999999999918, + "curvature":17.459934497401907, + "pose":{ + "rotation":{ + "radians":-0.4334957798412308 + }, + "translation":{ + "x":-0.06641273835409178, + "y":0.009786605834960938 + } + }, + "time":3.374966631861679, + "velocity":0.5199161345815548 + }, + { + "acceleration":-2.0, + "curvature":14.9001811661835, + "pose":{ + "rotation":{ + "radians":-0.3795612382681966 + }, + "translation":{ + "x":-0.0633420391687558, + "y":0.008467231478009984 + } + }, + "time":3.381476380148027, + "velocity":0.5068966380088588 + }, + { + "acceleration":-2.0000000000000018, + "curvature":12.711979997378924, + "pose":{ + "rotation":{ + "radians":-0.33086402033744416 + }, + "translation":{ + "x":-0.06002496827382975, + "y":0.007239205496651802 + } + }, + "time":3.388553109477197, + "velocity":0.4927431793505188 + }, + { + "acceleration":-2.0000000000000018, + "curvature":9.293401276465811, + "pose":{ + "rotation":{ + "radians":-0.2471227409523188 + }, + "translation":{ + "x":-0.052640688012496994, + "y":0.005061285836356011 + } + }, + "time":3.4047069789966478, + "velocity":0.46043544031161765 + }, + { + "acceleration":-2.0000000000000013, + "curvature":6.87086543118763, + "pose":{ + "rotation":{ + "radians":-0.17844137117241632 + }, + "translation":{ + "x":-0.04423785088467114, + "y":0.0032610212053570953 + } + }, + "time":3.424195782221518, + "velocity":0.42145783386187696 + }, + { + "acceleration":-2.0000000000000018, + "curvature":5.153442078046409, + "pose":{ + "rotation":{ + "radians":-0.1216295798723478 + }, + "translation":{ + "x":-0.03479441020493046, + "y":0.0018465859549386399 + } + }, + "time":3.4482220037806184, + "velocity":0.37340539074367585 + }, + { + "acceleration":-1.9999999999999998, + "curvature":3.9250768863984966, + "pose":{ + "rotation":{ + "radians":-0.07417082549076627 + }, + "translation":{ + "x":-0.02428831928785291, + "y":0.0008261544363838969 + } + }, + "time":3.479032538249631, + "velocity":0.31178432180564974 + }, + { + "acceleration":-1.9999999999999998, + "curvature":2.3809523809523805, + "pose":{ + "rotation":{ + "radians":0.0 + }, + "translation":{ + "x":0.0, + "y":0.0 + } + }, + "time":3.634924699152456, + "velocity":0.0 + } + ] \ No newline at end of file From 156b461ffe7ee74d1f911b2997a2df1469748f84 Mon Sep 17 00:00:00 2001 From: Ann Date: Fri, 3 Feb 2023 09:27:39 -0500 Subject: [PATCH 02/12] changed file name --- autonomous/basic_auto.py | 59 +++++++++++++++++++ ..._routine.py => combine_trajectory_json.py} | 2 +- 2 files changed, 60 insertions(+), 1 deletion(-) create mode 100644 autonomous/basic_auto.py rename autonomous/{generate_routine.py => combine_trajectory_json.py} (95%) diff --git a/autonomous/basic_auto.py b/autonomous/basic_auto.py new file mode 100644 index 0000000..ad7615e --- /dev/null +++ b/autonomous/basic_auto.py @@ -0,0 +1,59 @@ +import math + +from commands2 import SequentialCommandGroup, InstantCommand, WaitCommand +from wpimath.geometry import Pose2d, Translation2d +from wpimath.trajectory import TrajectoryGenerator, TrajectoryConfig, TrajectoryUtil + +import constants +from autonomous.auto_routine import AutoRoutine +from autonomous.custom_pathing import FollowPathCustom +from robot_systems import Robot + +from autonomous.combine_trajectory_json import combine_trajectory_json + +routines = ["routine_1", "routine_2"] + +combine_trajectory_json(routines) + +# assuming this file is for routine 1 +trajectory_1 = TrajectoryUtil.fromPathweaverJson("./autonomous/routines/routine_1/auto_routine.json") + +path_1 = FollowPathCustom( + Robot.drivetrain, + trajectory_1, + math.radians(0), + constants.period, +) + +trajectory_config_2 = TrajectoryConfig(1, 2) +trajectory_config_2.setStartVelocity(0) +trajectory_config_2.setEndVelocity(0) + +trajectory_2 = TrajectoryGenerator.generateTrajectory( + start=Pose2d(2, 2, math.radians(0)), + interiorWaypoints=[ + Translation2d(1.5, 1.5), + Translation2d(1, 1), + Translation2d(0.5, 0.5), + ], + end=Pose2d(0, 0, 0), + config=trajectory_config_2, +) + +path_2 = FollowPathCustom( + Robot.drivetrain, + trajectory_2, + math.radians(0), + constants.period, +) + +auto = SequentialCommandGroup( + InstantCommand(lambda: print(Robot.drivetrain.odometry.getPose())), + path_1, + InstantCommand(lambda: print(Robot.drivetrain.odometry.getPose())), + WaitCommand(2), + path_2, + InstantCommand(lambda: print(Robot.drivetrain.odometry.getPose())), +) + +routine = AutoRoutine(Pose2d(0, 0, math.radians(0)), auto) diff --git a/autonomous/generate_routine.py b/autonomous/combine_trajectory_json.py similarity index 95% rename from autonomous/generate_routine.py rename to autonomous/combine_trajectory_json.py index e7c380c..b62275b 100644 --- a/autonomous/generate_routine.py +++ b/autonomous/combine_trajectory_json.py @@ -3,7 +3,7 @@ auto_folder_path = "./autonomous/routines/" -def generate_routine(routines): +def combine_trajectory_json(routines): for routine in routines: output = {} folder_path = os.path.join(auto_folder_path, routine) From a5ede2505f3f4323feaf16314055f024554a7415 Mon Sep 17 00:00:00 2001 From: Ann Date: Fri, 3 Feb 2023 09:58:38 -0500 Subject: [PATCH 03/12] converted json file to trajectories --- autonomous/basic_auto.py | 29 +++++-------------- ...mbine_trajectory_json.py => trajectory.py} | 17 ++++++++++- simgui-window.json | 4 +-- 3 files changed, 26 insertions(+), 24 deletions(-) rename autonomous/{combine_trajectory_json.py => trajectory.py} (57%) diff --git a/autonomous/basic_auto.py b/autonomous/basic_auto.py index ad7615e..d03780c 100644 --- a/autonomous/basic_auto.py +++ b/autonomous/basic_auto.py @@ -1,4 +1,6 @@ import math +import json +import tempfile from commands2 import SequentialCommandGroup, InstantCommand, WaitCommand from wpimath.geometry import Pose2d, Translation2d @@ -9,40 +11,25 @@ from autonomous.custom_pathing import FollowPathCustom from robot_systems import Robot -from autonomous.combine_trajectory_json import combine_trajectory_json +from autonomous.trajectory import combine_trajectory_json, get_trajectories +# combines all trajectories in each routine into one auto_routine.json file routines = ["routine_1", "routine_2"] - combine_trajectory_json(routines) -# assuming this file is for routine 1 -trajectory_1 = TrajectoryUtil.fromPathweaverJson("./autonomous/routines/routine_1/auto_routine.json") +# assuming this file is for routine_1, store all trajectories in a dict +trajectories = get_trajectories("routine_1") path_1 = FollowPathCustom( Robot.drivetrain, - trajectory_1, + trajectories["trajectory_1"], math.radians(0), constants.period, ) -trajectory_config_2 = TrajectoryConfig(1, 2) -trajectory_config_2.setStartVelocity(0) -trajectory_config_2.setEndVelocity(0) - -trajectory_2 = TrajectoryGenerator.generateTrajectory( - start=Pose2d(2, 2, math.radians(0)), - interiorWaypoints=[ - Translation2d(1.5, 1.5), - Translation2d(1, 1), - Translation2d(0.5, 0.5), - ], - end=Pose2d(0, 0, 0), - config=trajectory_config_2, -) - path_2 = FollowPathCustom( Robot.drivetrain, - trajectory_2, + trajectories["trajectory_2"], math.radians(0), constants.period, ) diff --git a/autonomous/combine_trajectory_json.py b/autonomous/trajectory.py similarity index 57% rename from autonomous/combine_trajectory_json.py rename to autonomous/trajectory.py index b62275b..e2c6d20 100644 --- a/autonomous/combine_trajectory_json.py +++ b/autonomous/trajectory.py @@ -1,5 +1,7 @@ import os import json +import tempfile +from wpimath.trajectory import TrajectoryUtil auto_folder_path = "./autonomous/routines/" @@ -24,4 +26,17 @@ def combine_trajectory_json(routines): path_number += 1 with open(auto_folder_path + routine + "/auto_routine.json", "w") as auto_routine: - json.dump(output, auto_routine, indent=4) \ No newline at end of file + json.dump(output, auto_routine, indent=4) + +def get_trajectories(routine): + trajectories = {} + + with open("./autonomous/routines/" + routine + "/auto_routine.json", "r") as file: + auto_routine = json.load(file) + + for key, value in auto_routine.items(): + with tempfile.NamedTemporaryFile(mode='w', delete=False) as temp: + temp.write(json.dumps(value)) + trajectories[key] = TrajectoryUtil.fromPathweaverJson(temp.name) + + return trajectories \ No newline at end of file diff --git a/simgui-window.json b/simgui-window.json index 2910a49..d80c6ec 100644 --- a/simgui-window.json +++ b/simgui-window.json @@ -1,13 +1,13 @@ { "MainWindow": { "GLOBAL": { - "height": "1044", + "height": "1016", "maximized": "0", "style": "0", "userScale": "2", "width": "638", "xpos": "641", - "ypos": "35" + "ypos": "64" } }, "Window": { From 848e1333459a0e14ee9aabe0c7e4f6359eefa3a4 Mon Sep 17 00:00:00 2001 From: Ann Date: Fri, 3 Feb 2023 09:59:35 -0500 Subject: [PATCH 04/12] comments --- autonomous/trajectory.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autonomous/trajectory.py b/autonomous/trajectory.py index e2c6d20..a6aa249 100644 --- a/autonomous/trajectory.py +++ b/autonomous/trajectory.py @@ -5,6 +5,7 @@ auto_folder_path = "./autonomous/routines/" +# combines trajectory files into one auto_routine.json file def combine_trajectory_json(routines): for routine in routines: output = {} @@ -28,6 +29,7 @@ def combine_trajectory_json(routines): with open(auto_folder_path + routine + "/auto_routine.json", "w") as auto_routine: json.dump(output, auto_routine, indent=4) +# converts json to trajectories def get_trajectories(routine): trajectories = {} From da60665453157669158b9fa172bbc2ee4ba3ff17 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 3 Feb 2023 23:56:32 -0500 Subject: [PATCH 05/12] Complete rebase. --- .../{ => routines/basic_auto}/basic_auto.py | 12 +- .../basic_auto/trajectories/trajectory_1.json | 857 ++++++ .../basic_auto/trajectories/trajectory_2.json | 1787 +++++++++++ .../routines/routine_1/auto_routine.json | 2646 ----------------- .../routines/routine_1/trajectory_1.json | 857 ------ .../routines/routine_1/trajectory_2.json | 1787 ----------- .../routines/routine_2/auto_routine.json | 2646 ----------------- .../routines/routine_2/trajectory_1.json | 857 ------ .../routines/routine_2/trajectory_2.json | 1787 ----------- .../{trajectory.py => utils/path_planner.py} | 15 +- 10 files changed, 2657 insertions(+), 10594 deletions(-) rename autonomous/{ => routines/basic_auto}/basic_auto.py (75%) create mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_1.json create mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_2.json delete mode 100644 autonomous/routines/routine_1/auto_routine.json delete mode 100644 autonomous/routines/routine_1/trajectory_1.json delete mode 100644 autonomous/routines/routine_1/trajectory_2.json delete mode 100644 autonomous/routines/routine_2/auto_routine.json delete mode 100644 autonomous/routines/routine_2/trajectory_1.json delete mode 100644 autonomous/routines/routine_2/trajectory_2.json rename autonomous/{trajectory.py => utils/path_planner.py} (85%) diff --git a/autonomous/basic_auto.py b/autonomous/routines/basic_auto/basic_auto.py similarity index 75% rename from autonomous/basic_auto.py rename to autonomous/routines/basic_auto/basic_auto.py index d03780c..6b66891 100644 --- a/autonomous/basic_auto.py +++ b/autonomous/routines/basic_auto/basic_auto.py @@ -1,18 +1,14 @@ import math -import json -import tempfile from commands2 import SequentialCommandGroup, InstantCommand, WaitCommand -from wpimath.geometry import Pose2d, Translation2d -from wpimath.trajectory import TrajectoryGenerator, TrajectoryConfig, TrajectoryUtil +from wpimath.geometry import Pose2d import constants from autonomous.auto_routine import AutoRoutine -from autonomous.custom_pathing import FollowPathCustom +from autonomous.utils.custom_pathing import FollowPathCustom +from autonomous.utils.path_planner import combine_trajectory_json, get_trajectories from robot_systems import Robot -from autonomous.trajectory import combine_trajectory_json, get_trajectories - # combines all trajectories in each routine into one auto_routine.json file routines = ["routine_1", "routine_2"] combine_trajectory_json(routines) @@ -23,14 +19,12 @@ path_1 = FollowPathCustom( Robot.drivetrain, trajectories["trajectory_1"], - math.radians(0), constants.period, ) path_2 = FollowPathCustom( Robot.drivetrain, trajectories["trajectory_2"], - math.radians(0), constants.period, ) diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_1.json b/autonomous/routines/basic_auto/trajectories/trajectory_1.json new file mode 100644 index 0000000..257fb3a --- /dev/null +++ b/autonomous/routines/basic_auto/trajectories/trajectory_1.json @@ -0,0 +1,857 @@ +[ + { + "acceleration": 2.0000000000000004, + "curvature": 2.3809523809523814, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 0.0, + "y": 0.0 + } + }, + "time": 0.0, + "velocity": 0.0 + }, + { + "acceleration": 2.000000000000001, + "curvature": 2.595325966847042, + "pose": { + "rotation": { + "radians": 0.06460283167616494 + }, + "translation": { + "x": 0.025940628160620836, + "y": 0.0008261544363839286 + } + }, + "time": 0.1611017705266734, + "velocity": 0.32220354105334686 + }, + { + "acceleration": 1.999999999999999, + "curvature": 2.787492742305355, + "pose": { + "rotation": { + "radians": 0.13177918578963022 + }, + "translation": { + "x": 0.05075989329538541, + "y": 0.003261021205357143 + } + }, + "time": 0.22559298431162372, + "velocity": 0.45118596862324756 + }, + { + "acceleration": 2.0, + "curvature": 2.9449252494021136, + "pose": { + "rotation": { + "radians": 0.20086675304867105 + }, + "translation": { + "x": 0.07450337926713341, + "y": 0.007239205496651787 + } + }, + "time": 0.27380037105598976, + "velocity": 0.5476007421119795 + }, + { + "acceleration": 2.0000000000000013, + "curvature": 3.0563610293310313, + "pose": { + "rotation": { + "radians": 0.271067404114427 + }, + "translation": { + "x": 0.09721666993870451, + "y": 0.0126953125 + } + }, + "time": 0.3135698756503563, + "velocity": 0.6271397513007126 + }, + { + "acceleration": 2.0000000000000013, + "curvature": 3.1135922042633504, + "pose": { + "rotation": { + "radians": 0.34148963883778916 + }, + "translation": { + "x": 0.11894534917293839, + "y": 0.01956394740513393 + } + }, + "time": 0.34801511627663584, + "velocity": 0.6960302325532717 + }, + { + "acceleration": 2.0, + "curvature": 3.112845373687687, + "pose": { + "rotation": { + "radians": 0.4112057410202867 + }, + "translation": { + "x": 0.13973500083267476, + "y": 0.02777971540178572 + } + }, + "time": 0.3787725979355451, + "velocity": 0.7575451958710901 + }, + { + "acceleration": 2.0, + "curvature": 3.055332259900253, + "pose": { + "rotation": { + "radians": 0.4793147718377678 + }, + "translation": { + "x": 0.15963120878075332, + "y": 0.0372772216796875 + } + }, + "time": 0.4068359476982932, + "velocity": 0.8136718953965864 + }, + { + "acceleration": 2.0, + "curvature": 2.9468175976334776, + "pose": { + "rotation": { + "radians": 0.5450007702314661 + }, + "translation": { + "x": 0.1786795568800137, + "y": 0.04799107142857143 + } + }, + "time": 0.43286273556068766, + "velocity": 0.8657254711213753 + }, + { + "acceleration": 2.0000000000000027, + "curvature": 2.796384020129445, + "pose": { + "rotation": { + "radians": 0.6075769725261475 + }, + "translation": { + "x": 0.19692562899329563, + "y": 0.059855869838169644 + } + }, + "time": 0.45731239630972664, + "velocity": 0.9146247926194533 + }, + { + "acceleration": 1.749932129781575, + "curvature": 2.6148056057208007, + "pose": { + "rotation": { + "radians": 0.666510847769103 + }, + "translation": { + "x": 0.21441500898343874, + "y": 0.07280622209821429 + } + }, + "time": 0.48051717108354774, + "velocity": 0.9610343421670956 + }, + { + "acceleration": 0.0, + "curvature": 2.4129782382963043, + "pose": { + "rotation": { + "radians": 0.7214295479787702 + }, + "translation": { + "x": 0.23119328071328277, + "y": 0.0867767333984375 + } + }, + "time": 0.5027841248526451, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 2.2007240886301007, + "pose": { + "rotation": { + "radians": 0.7721092401780296 + }, + "translation": { + "x": 0.24730602804566743, + "y": 0.10170200892857144 + } + }, + "time": 0.524747377713906, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.9860923592042752, + "pose": { + "rotation": { + "radians": 0.8184537703343066 + }, + "translation": { + "x": 0.26279883484343236, + "y": 0.11751665387834821 + } + }, + "time": 0.5468862588365004, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.7751158042945765, + "pose": { + "rotation": { + "radians": 0.8604682380066073 + }, + "translation": { + "x": 0.2777172849694172, + "y": 0.1341552734375 + } + }, + "time": 0.5692336035332577, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.378877735802265, + "pose": { + "rotation": { + "radians": 0.9318738882940065 + }, + "translation": { + "x": 0.3060134506574056, + "y": 0.16964285714285715 + } + }, + "time": 0.6146212845699313, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 1.0269790123916365, + "pose": { + "rotation": { + "radians": 0.9874352146007722 + }, + "translation": { + "x": 0.33255919601235007, + "y": 0.2076416015625 + } + }, + "time": 0.6609740749273509, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.7184011472705635, + "pose": { + "rotation": { + "radians": 1.028489463266511 + }, + "translation": { + "x": 0.357719191936968, + "y": 0.24762834821428573 + } + }, + "time": 0.7082177549567569, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.1930851987713053, + "pose": { + "rotation": { + "radians": 1.0716201459130537 + }, + "translation": { + "x": 0.40534061910609465, + "y": 0.3314732142857143 + } + }, + "time": 0.8046426578198671, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2916630807647434, + "pose": { + "rotation": { + "radians": 1.0669149846908788 + }, + "translation": { + "x": 0.4517950993865254, + "y": 0.41699218749999994 + } + }, + "time": 0.9019643589853864, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.837092751266262, + "pose": { + "rotation": { + "radians": 1.0137255642722038 + }, + "translation": { + "x": 0.5, + "y": 0.5 + } + }, + "time": 0.9979539906087557, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.800067132725784, + "pose": { + "rotation": { + "radians": 0.9371365584178165 + }, + "translation": { + "x": 0.5522892147239105, + "y": 0.5771484375 + } + }, + "time": 1.0911529358020067, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.7305970666123351, + "pose": { + "rotation": { + "radians": 0.8673303065438499 + }, + "translation": { + "x": 0.6086627435582567, + "y": 0.6484375 + } + }, + "time": 1.1820380566159538, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6353268212231772, + "pose": { + "rotation": { + "radians": 0.8061523795916493 + }, + "translation": { + "x": 0.6685371130586908, + "y": 0.7147042410714286 + } + }, + "time": 1.2713477486728761, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.521996158571609, + "pose": { + "rotation": { + "radians": 0.7549381802864602 + }, + "translation": { + "x": 0.7313288497808648, + "y": 0.7767857142857143 + } + }, + "time": 1.3596478705133521, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3975528759100238, + "pose": { + "rotation": { + "radians": 0.7145498145006239 + }, + "translation": { + "x": 0.7964544802804306, + "y": 0.8355189732142857 + } + }, + "time": 1.4473458947347484, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2671592856148399, + "pose": { + "rotation": { + "radians": 0.6854795494256645 + }, + "translation": { + "x": 0.8633305311130404, + "y": 0.8917410714285714 + } + }, + "time": 1.5347148280153062, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.13405818704189948, + "pose": { + "rotation": { + "radians": 0.6679716319317236 + }, + "translation": { + "x": 0.9313735288343461, + "y": 0.9462890625 + } + }, + "time": 1.6219233876228945, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.0, + "pose": { + "rotation": { + "radians": 0.6621270389708964 + }, + "translation": { + "x": 0.9999999999999999, + "y": 1.0 + } + }, + "time": 1.7090695714279196, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.13405818704189962, + "pose": { + "rotation": { + "radians": 0.6679716319317235 + }, + "translation": { + "x": 1.0686264711656537, + "y": 1.0537109375 + } + }, + "time": 1.7962157552329447, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.2671592856148402, + "pose": { + "rotation": { + "radians": 0.6854795494256642 + }, + "translation": { + "x": 1.1366694688869594, + "y": 1.1082589285714286 + } + }, + "time": 1.883424314840533, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3975528759100245, + "pose": { + "rotation": { + "radians": 0.7145498145006239 + }, + "translation": { + "x": 1.2035455197195692, + "y": 1.1644810267857144 + } + }, + "time": 1.970793248121091, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.52199615857161, + "pose": { + "rotation": { + "radians": 0.7549381802864603 + }, + "translation": { + "x": 1.2686711502191352, + "y": 1.2232142857142858 + } + }, + "time": 2.0584912723424873, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6353268212231779, + "pose": { + "rotation": { + "radians": 0.8061523795916495 + }, + "translation": { + "x": 1.3314628869413092, + "y": 1.2852957589285716 + } + }, + "time": 2.146791394182963, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.7305970666123357, + "pose": { + "rotation": { + "radians": 0.8673303065438502 + }, + "translation": { + "x": 1.3913372564417432, + "y": 1.3515625 + } + }, + "time": 2.236101086239885, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.8000671327257849, + "pose": { + "rotation": { + "radians": 0.937136558417817 + }, + "translation": { + "x": 1.4477107852760895, + "y": 1.4228515625 + } + }, + "time": 2.3269862070538325, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.8370927512662617, + "pose": { + "rotation": { + "radians": 1.0137255642722043 + }, + "translation": { + "x": 1.5, + "y": 1.5000000000000002 + } + }, + "time": 2.420185152247084, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.2916630807647438, + "pose": { + "rotation": { + "radians": 1.0669149846908788 + }, + "translation": { + "x": 1.5482049006134746, + "y": 1.5830078125 + } + }, + "time": 2.516174783870453, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.1930851987713047, + "pose": { + "rotation": { + "radians": 1.0716201459130534 + }, + "translation": { + "x": 1.5946593808939054, + "y": 1.6685267857142856 + } + }, + "time": 2.6134964850359723, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.7184011472705635, + "pose": { + "rotation": { + "radians": 1.028489463266511 + }, + "translation": { + "x": 1.642280808063032, + "y": 1.7523716517857144 + } + }, + "time": 2.7099213878990827, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.0269790123916358, + "pose": { + "rotation": { + "radians": 0.9874352146007725 + }, + "translation": { + "x": 1.6674408039876498, + "y": 1.7923583984375 + } + }, + "time": 2.7571650679284883, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.378877735802265, + "pose": { + "rotation": { + "radians": 0.9318738882940066 + }, + "translation": { + "x": 1.6939865493425943, + "y": 1.8303571428571428 + } + }, + "time": 2.803517858285908, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.7751158042945763, + "pose": { + "rotation": { + "radians": 0.8604682380066074 + }, + "translation": { + "x": 1.7222827150305826, + "y": 1.8658447265625 + } + }, + "time": 2.8489055393225815, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -1.9860923592042752, + "pose": { + "rotation": { + "radians": 0.8184537703343068 + }, + "translation": { + "x": 1.7372011651565675, + "y": 1.882483346121652 + } + }, + "time": 2.8712528840193388, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -2.2007240886301, + "pose": { + "rotation": { + "radians": 0.7721092401780295 + }, + "translation": { + "x": 1.7526939719543324, + "y": 1.8982979910714286 + } + }, + "time": 2.893391765141933, + "velocity": 1.0 + }, + { + "acceleration": -1.7499321297815522, + "curvature": -2.4129782382963048, + "pose": { + "rotation": { + "radians": 0.7214295479787705 + }, + "translation": { + "x": 1.7688067192867172, + "y": 1.9132232666015625 + } + }, + "time": 2.915355018003194, + "velocity": 1.0 + }, + { + "acceleration": -2.0000000000000027, + "curvature": -2.6148056057208007, + "pose": { + "rotation": { + "radians": 0.6665108477691031 + }, + "translation": { + "x": 1.7855849910165613, + "y": 1.9271937779017858 + } + }, + "time": 2.9376219717722916, + "velocity": 0.9610343421670957 + }, + { + "acceleration": -2.0, + "curvature": -2.796384020129447, + "pose": { + "rotation": { + "radians": 0.6075769725261476 + }, + "translation": { + "x": 1.8030743710067043, + "y": 1.9401441301618303 + } + }, + "time": 2.9608267465461124, + "velocity": 0.9146247926194542 + }, + { + "acceleration": -2.0, + "curvature": -2.946817597633479, + "pose": { + "rotation": { + "radians": 0.5450007702314662 + }, + "translation": { + "x": 1.821320443119986, + "y": 1.9520089285714286 + } + }, + "time": 2.985276407295151, + "velocity": 0.8657254711213762 + }, + { + "acceleration": -2.0000000000000027, + "curvature": -3.055332259900255, + "pose": { + "rotation": { + "radians": 0.479314771837768 + }, + "translation": { + "x": 1.8403687912192466, + "y": 1.9627227783203125 + } + }, + "time": 3.011303195157546, + "velocity": 0.8136718953965866 + }, + { + "acceleration": -2.0, + "curvature": -3.1128453736876884, + "pose": { + "rotation": { + "radians": 0.41120574102028656 + }, + "translation": { + "x": 1.8602649991673252, + "y": 1.9722202845982142 + } + }, + "time": 3.0393665449202945, + "velocity": 0.7575451958710898 + }, + { + "acceleration": -2.0000000000000013, + "curvature": -3.1135922042633504, + "pose": { + "rotation": { + "radians": 0.34148963883778904 + }, + "translation": { + "x": 1.8810546508270616, + "y": 1.9804360525948659 + } + }, + "time": 3.070124026579204, + "velocity": 0.696030232553271 + }, + { + "acceleration": -1.999999999999999, + "curvature": -3.056361029331032, + "pose": { + "rotation": { + "radians": 0.27106740411442715 + }, + "translation": { + "x": 1.9027833300612955, + "y": 1.9873046875 + } + }, + "time": 3.1045692672054837, + "velocity": 0.6271397513007115 + }, + { + "acceleration": -2.0, + "curvature": -2.9449252494021136, + "pose": { + "rotation": { + "radians": 0.20086675304867097 + }, + "translation": { + "x": 1.9254966207328665, + "y": 1.992760794503348 + } + }, + "time": 3.1443387717998506, + "velocity": 0.547600742111978 + }, + { + "acceleration": -1.9999999999999998, + "curvature": -2.7874927423053566, + "pose": { + "rotation": { + "radians": 0.13177918578963033 + }, + "translation": { + "x": 1.9492401067046146, + "y": 1.9967389787946428 + } + }, + "time": 3.1925461585442165, + "velocity": 0.45118596862324617 + }, + { + "acceleration": -2.0000000000000004, + "curvature": -2.595325966847042, + "pose": { + "rotation": { + "radians": 0.06460283167616503 + }, + "translation": { + "x": 1.974059371839379, + "y": 1.999173845563616 + } + }, + "time": 3.2570373723291666, + "velocity": 0.3222035410533462 + }, + { + "acceleration": -2.0000000000000004, + "curvature": -2.380952380952382, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 2.0, + "y": 2.0 + } + }, + "time": 3.4181391428558396, + "velocity": 0.0 + } +] diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_2.json b/autonomous/routines/basic_auto/trajectories/trajectory_2.json new file mode 100644 index 0000000..110c1e0 --- /dev/null +++ b/autonomous/routines/basic_auto/trajectories/trajectory_2.json @@ -0,0 +1,1787 @@ +[ + { + "acceleration": 2.0, + "curvature": -2.3809523809523814, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 2.0, + "y": 2.0 + } + }, + "time": 0.0, + "velocity": 0.0 + }, + { + "acceleration": 2.0, + "curvature": -3.925076886398501, + "pose": { + "rotation": { + "radians": -0.07417082549076623 + }, + "translation": { + "x": 2.024288319287853, + "y": 1.999173845563616 + } + }, + "time": 0.1558921609028255, + "velocity": 0.311784321805651 + }, + { + "acceleration": 2.0, + "curvature": -5.153442078046409, + "pose": { + "rotation": { + "radians": -0.1216295798723478 + }, + "translation": { + "x": 2.0347944102049302, + "y": 1.9981534140450614 + } + }, + "time": 0.1867026953718375, + "velocity": 0.373405390743675 + }, + { + "acceleration": 2.0, + "curvature": -6.870865431187638, + "pose": { + "rotation": { + "radians": -0.17844137117241632 + }, + "translation": { + "x": 2.044237850884671, + "y": 1.9967389787946428 + } + }, + "time": 0.210728916930938, + "velocity": 0.421457833861876 + }, + { + "acceleration": 2.0, + "curvature": -9.293401276465815, + "pose": { + "rotation": { + "radians": -0.24712274095231881 + }, + "translation": { + "x": 2.052640688012497, + "y": 1.9949387141636439 + } + }, + "time": 0.23021772015580907, + "velocity": 0.46043544031161815 + }, + { + "acceleration": 2.0, + "curvature": -12.711979997378936, + "pose": { + "rotation": { + "radians": -0.33086402033744444 + }, + "translation": { + "x": 2.06002496827383, + "y": 1.9927607945033483 + } + }, + "time": 0.24637158967525977, + "velocity": 0.49274317935051953 + }, + { + "acceleration": 1.9999999999999918, + "curvature": -14.900181166183526, + "pose": { + "rotation": { + "radians": -0.379561238268197 + }, + "translation": { + "x": 2.063342039168756, + "y": 1.9915327685219901 + } + }, + "time": 0.25344831900442966, + "velocity": 0.5068966380088593 + }, + { + "acceleration": 2.0, + "curvature": -17.459934497401925, + "pose": { + "rotation": { + "radians": -0.4334957798412309 + }, + "translation": { + "x": 2.066412738354092, + "y": 1.990213394165039 + } + }, + "time": 0.25995806729077736, + "velocity": 0.5199161345815547 + }, + { + "acceleration": 1.9999999999999907, + "curvature": -20.414249721574603, + "pose": { + "rotation": { + "radians": -0.49317970616962725 + }, + "translation": { + "x": 2.0692398216655152, + "y": 1.9888036932264055 + } + }, + "time": 0.26596476501154587, + "velocity": 0.5319295300230917 + }, + { + "acceleration": 2.0, + "curvature": -23.75624189265799, + "pose": { + "rotation": { + "radians": -0.5590722011057766 + }, + "translation": { + "x": 2.0718260449387045, + "y": 1.9873046875 + } + }, + "time": 0.27152623894767053, + "velocity": 0.5430524778953411 + }, + { + "acceleration": 1.9999999999999898, + "curvature": -27.428995177461175, + "pose": { + "rotation": { + "radians": -0.6315132855442878 + }, + "translation": { + "x": 2.074174164009337, + "y": 1.9857173987797327 + } + }, + "time": 0.2766961861196231, + "velocity": 0.5533923722392462 + }, + { + "acceleration": 2.0, + "curvature": -31.303118282225075, + "pose": { + "rotation": { + "radians": -0.7106357578709409 + }, + "translation": { + "x": 2.07628693471309, + "y": 1.9840428488595145 + } + }, + "time": 0.2815256417387766, + "velocity": 0.5630512834775532 + }, + { + "acceleration": 2.000000000000022, + "curvature": -35.159645706609, + "pose": { + "rotation": { + "radians": -0.7962620588663979 + }, + "translation": { + "x": 2.0781671128856423, + "y": 1.9822820595332555 + } + }, + "time": 0.2860640199107224, + "velocity": 0.5721280398214448 + }, + { + "acceleration": 2.0, + "curvature": -36.988059436663285, + "pose": { + "rotation": { + "radians": -0.8413486868007399 + }, + "translation": { + "x": 2.079020840971367, + "y": 1.9813696444034576 + } + }, + "time": 0.2882397693043589, + "velocity": 0.5764795386087178 + }, + { + "acceleration": 1.9999999999999771, + "curvature": -38.6911944765433, + "pose": { + "rotation": { + "radians": -0.8878044495372119 + }, + "translation": { + "x": 2.0798174543626704, + "y": 1.980436052594866 + } + }, + "time": 0.2903608660509362, + "velocity": 0.5807217321018724 + }, + { + "acceleration": 2.000000000000023, + "curvature": -40.22229122406195, + "pose": { + "rotation": { + "radians": -0.9354809737665283 + }, + "translation": { + "x": 2.0805572975390128, + "y": 1.9794814118317194 + } + }, + "time": 0.2924332435431329, + "velocity": 0.5848664870862658 + }, + { + "acceleration": 1.9999999999999765, + "curvature": -41.535343553644125, + "pose": { + "rotation": { + "radians": -0.9841997802056122 + }, + "translation": { + "x": 2.0812407149798533, + "y": 1.9785058498382568 + } + }, + "time": 0.2944627781228363, + "velocity": 0.5889255562456726 + }, + { + "acceleration": 2.000000000000024, + "curvature": -42.588028498451095, + "pose": { + "rotation": { + "radians": -1.033754720859844 + }, + "translation": { + "x": 2.0818680511646517, + "y": 1.9775094943387168 + } + }, + "time": 0.29645527400899585, + "velocity": 0.5929105480179917 + }, + { + "acceleration": 2.0, + "curvature": -43.344736375148244, + "pose": { + "rotation": { + "radians": -1.0839161025726805 + }, + "translation": { + "x": 2.0824396505728675, + "y": 1.976492473057338 + } + }, + "time": 0.29841644302091386, + "velocity": 0.5968328860418277 + }, + { + "acceleration": 2.000000000000024, + "curvature": -43.77933999343355, + "pose": { + "rotation": { + "radians": -1.1344363808123423 + }, + "translation": { + "x": 2.0829558576839613, + "y": 1.97545491371836 + } + }, + "time": 0.30035188008864977, + "velocity": 0.6007037601772995 + }, + { + "acceleration": 1.999999999999976, + "curvature": -43.87733008467971, + "pose": { + "rotation": { + "radians": -1.1850571236540004 + }, + "translation": { + "x": 2.083417016977392, + "y": 1.9743969440460205 + } + }, + "time": 0.3022670358018074, + "velocity": 0.6045340716036148 + }, + { + "acceleration": 1.999999999999976, + "curvature": -43.637007519940035, + "pose": { + "rotation": { + "radians": -1.2355167832596747 + }, + "translation": { + "x": 2.0838234729326195, + "y": 1.973318691764559 + } + }, + "time": 0.30416718743806354, + "velocity": 0.6083343748761271 + }, + { + "acceleration": 2.0, + "curvature": -43.06955490658779, + "pose": { + "rotation": { + "radians": -1.2855587029566673 + }, + "translation": { + "x": 2.084175570029103, + "y": 1.9722202845982142 + } + }, + "time": 0.3060574100002201, + "velocity": 0.6121148200004402 + }, + { + "acceleration": 2.0, + "curvature": -42.197983172692034, + "pose": { + "rotation": { + "radians": -1.334938755353409 + }, + "translation": { + "x": 2.0844736527463037, + "y": 1.971101850271225 + } + }, + "time": 0.3079425487564216, + "velocity": 0.6158850975128431 + }, + { + "acceleration": 2.0, + "curvature": -41.0551217892863, + "pose": { + "rotation": { + "radians": -1.3834320579244797 + }, + "translation": { + "x": 2.08471806556368, + "y": 1.96996351650783 + } + }, + "time": 0.3098271946224532, + "velocity": 0.6196543892449063 + }, + { + "acceleration": 1.9999999999999767, + "curvature": -39.680953596252024, + "pose": { + "rotation": { + "radians": -1.4308383360767614 + }, + "translation": { + "x": 2.0849091529606922, + "y": 1.968805411032268 + } + }, + "time": 0.3117156634668311, + "velocity": 0.6234313269336622 + }, + { + "acceleration": 2.000000000000023, + "curvature": -38.11965972183801, + "pose": { + "rotation": { + "radians": -1.4769856740539584 + }, + "translation": { + "x": 2.0850472594167995, + "y": 1.967627661568778 + } + }, + "time": 0.31361198009273245, + "velocity": 0.6272239601854649 + }, + { + "acceleration": 2.0, + "curvature": -36.41673084842611, + "pose": { + "rotation": { + "radians": -1.5217325782212117 + }, + "translation": { + "x": 2.085132729411462, + "y": 1.9664303958415985 + } + }, + "time": 0.3155198672972044, + "velocity": 0.6310397345944088 + }, + { + "acceleration": 1.999999999999989, + "curvature": -34.61643207697982, + "pose": { + "rotation": { + "radians": -1.5649684441271747 + }, + "translation": { + "x": 2.0851659074241398, + "y": 1.9652137415749686 + } + }, + "time": 0.31744274006814643, + "velocity": 0.6348854801362929 + }, + { + "acceleration": 1.9999999999999893, + "curvature": -30.8832900836345, + "pose": { + "rotation": { + "radians": -1.646612542816186 + }, + "translation": { + "x": 2.085076765421378, + "y": 1.9627227783203125 + } + }, + "time": 0.3213447541055456, + "velocity": 0.6426895082110912 + }, + { + "acceleration": 2.0, + "curvature": -27.189129255565312, + "pose": { + "rotation": { + "radians": -1.721591821579909 + }, + "translation": { + "x": 2.084782589244193, + "y": 1.96015579359872 + } + }, + "time": 0.32534018658725694, + "velocity": 0.6506803731745139 + }, + { + "acceleration": 1.99999999999999, + "curvature": -23.715608877026064, + "pose": { + "rotation": { + "radians": -1.7899311131774194 + }, + "translation": { + "x": 2.0842861347282615, + "y": 1.9575138092041016 + } + }, + "time": 0.32944568759418175, + "velocity": 0.6588913751883635 + }, + { + "acceleration": 1.9999999999999905, + "curvature": -20.564297760595313, + "pose": { + "rotation": { + "radians": -1.8519014546201618 + }, + "translation": { + "x": 2.0835901577092613, + "y": 1.9547978469303675 + } + }, + "time": 0.33367376156419803, + "velocity": 0.6673475231283961 + }, + { + "acceleration": 2.000000000000009, + "curvature": -17.77561362662137, + "pose": { + "rotation": { + "radians": -1.9079248174526673 + }, + "translation": { + "x": 2.0826974140228707, + "y": 1.9520089285714286 + } + }, + "time": 0.33803328085436823, + "velocity": 0.6760665617087365 + }, + { + "acceleration": 1.9999999999999913, + "curvature": -15.34939194805936, + "pose": { + "rotation": { + "radians": -1.9584991400142502 + }, + "translation": { + "x": 2.081610659504767, + "y": 1.949148075921195 + } + }, + "time": 0.3425300155823549, + "velocity": 0.6850600311647098 + }, + { + "acceleration": 2.000000000000004, + "curvature": -13.261968099207705, + "pose": { + "rotation": { + "radians": -2.0041453198490715 + }, + "translation": { + "x": 2.0803326499906283, + "y": 1.946216310773577 + } + }, + "time": 0.3471671396096597, + "velocity": 0.6943342792193195 + }, + { + "acceleration": 2.0, + "curvature": -9.960064242378673, + "pose": { + "rotation": { + "radians": -2.0826612981087287 + }, + "translation": { + "x": 2.0772138893169565, + "y": 1.9401441301618303 + } + }, + "time": 0.35686313753891696, + "velocity": 0.7137262750778339 + }, + { + "acceleration": 2.0, + "curvature": -7.572271287540442, + "pose": { + "rotation": { + "radians": -2.1471266820536146 + }, + "translation": { + "x": 2.073363178687276, + "y": 1.933800561087472 + } + }, + "time": 0.36711324850246235, + "velocity": 0.7342264970049247 + }, + { + "acceleration": 2.0, + "curvature": -5.841092214253132, + "pose": { + "rotation": { + "radians": -2.2005194053603585 + }, + "translation": { + "x": 2.0688025647870103, + "y": 1.9271937779017858 + } + }, + "time": 0.3778890540579677, + "velocity": 0.7557781081159354 + }, + { + "acceleration": 2.0, + "curvature": -3.6335580164415155, + "pose": { + "rotation": { + "radians": -2.2828580802251603 + }, + "translation": { + "x": 2.0576398139164076, + "y": 1.9132232666015625 + } + }, + "time": 0.4008523319995877, + "velocity": 0.8017046639991754 + }, + { + "acceleration": 1.999999999999999, + "curvature": -2.3859297141582525, + "pose": { + "rotation": { + "radians": -2.3425427551974622 + }, + "translation": { + "x": 2.0439020101885244, + "y": 1.8982979910714286 + } + }, + "time": 0.4254031446723092, + "velocity": 0.8508062893446184 + }, + { + "acceleration": 0.7808367222958948, + "curvature": -1.168289411927801, + "pose": { + "rotation": { + "radians": -2.421478774741803 + }, + "translation": { + "x": 2.009406738094417, + "y": 1.8658447265625 + } + }, + "time": 0.47783848230722326, + "velocity": 0.9556769646144465 + }, + { + "acceleration": 0.0, + "curvature": -0.6431002814234164, + "pose": { + "rotation": { + "radians": -2.4696243980699735 + }, + "translation": { + "x": 1.9667277363716913, + "y": 1.8303571428571428 + } + }, + "time": 0.5346019952414388, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3779012277135409, + "pose": { + "rotation": { + "radians": -2.5004899928645394 + }, + "translation": { + "x": 1.91727599288735, + "y": 1.7923583984375 + } + }, + "time": 0.5969668852927363, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.22532033615872268, + "pose": { + "rotation": { + "radians": -2.520473960338245 + }, + "translation": { + "x": 1.8624624955083964, + "y": 1.7523716517857142 + } + }, + "time": 0.6648156833860457, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.1259503451160458, + "pose": { + "rotation": { + "radians": -2.5328615989649164 + }, + "translation": { + "x": 1.803698232101834, + "y": 1.7109200613839286 + } + }, + "time": 0.7367286377166338, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.05185978219205503, + "pose": { + "rotation": { + "radians": -2.539376314483957 + }, + "translation": { + "x": 1.7423941905346658, + "y": 1.6685267857142856 + } + }, + "time": 0.8112630279970368, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.012741582075827209, + "pose": { + "rotation": { + "radians": -2.540833425387097 + }, + "translation": { + "x": 1.679961358673895, + "y": 1.6257149832589286 + } + }, + "time": 0.8869644739781525, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.07962494904972009, + "pose": { + "rotation": { + "radians": -2.5374069641008212 + }, + "translation": { + "x": 1.617810724386525, + "y": 1.5830078125 + } + }, + "time": 0.9623740474854646, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.16149941110125976, + "pose": { + "rotation": { + "radians": -2.5286828834769617 + }, + "translation": { + "x": 1.557353275539559, + "y": 1.5409284319196428 + } + }, + "time": 1.0360339238844247, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.27767872853960485, + "pose": { + "rotation": { + "radians": -2.5135302822409846 + }, + "translation": { + "x": 1.4999999999999996, + "y": 1.5 + } + }, + "time": 1.1064933785694948, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3190043061414333, + "pose": { + "rotation": { + "radians": -2.493845124623491 + }, + "translation": { + "x": 1.4468796880614505, + "y": 1.4606410435267858 + } + }, + "time": 1.172606123143511, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.3644631920280974, + "pose": { + "rotation": { + "radians": -2.4727646530940817 + }, + "translation": { + "x": 1.3979923397239105, + "y": 1.4228515625 + } + }, + "time": 1.2343962332239258, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.4641994068544357, + "pose": { + "rotation": { + "radians": -2.426610188308126 + }, + "translation": { + "x": 1.3117877435582568, + "y": 1.3515625 + } + }, + "time": 1.3462593765384794, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.5623714732537684, + "pose": { + "rotation": { + "radians": -2.376121674237115 + }, + "translation": { + "x": 1.2391286309158336, + "y": 1.2852957589285714 + } + }, + "time": 1.4445987258459265, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6302381313589197, + "pose": { + "rotation": { + "radians": -2.3237592010084906 + }, + "translation": { + "x": 1.1777574212094364, + "y": 1.2232142857142856 + } + }, + "time": 1.5318943998354357, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.6275740592678156, + "pose": { + "rotation": { + "radians": -2.273676363647106 + }, + "translation": { + "x": 1.1254165338518594, + "y": 1.1644810267857144 + } + }, + "time": 1.6105656410468794, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.5184108857125409, + "pose": { + "rotation": { + "radians": -2.231450857835951 + }, + "translation": { + "x": 1.0798483882558978, + "y": 1.1082589285714286 + } + }, + "time": 1.68293538763115, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.29618604794063763, + "pose": { + "rotation": { + "radians": -2.203006515292095 + }, + "translation": { + "x": 1.0387954038343463, + "y": 1.0537109375 + } + }, + "time": 1.751205665643216, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 3.8924307326238546e-15, + "pose": { + "rotation": { + "radians": -2.1929446786425015 + }, + "translation": { + "x": 1.0000000000000002, + "y": 1.0 + } + }, + "time": 1.817462349576227, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2961860479406326, + "pose": { + "rotation": { + "radians": -2.203006515292096 + }, + "translation": { + "x": 0.9612045961656538, + "y": 0.9462890625 + } + }, + "time": 1.883719033509238, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.5184108857125374, + "pose": { + "rotation": { + "radians": -2.2314508578359513 + }, + "translation": { + "x": 0.9201516117441024, + "y": 0.8917410714285714 + } + }, + "time": 1.951989311521304, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6275740592678127, + "pose": { + "rotation": { + "radians": -2.2736763636471062 + }, + "translation": { + "x": 0.8745834661481408, + "y": 0.8355189732142857 + } + }, + "time": 2.0243590581055746, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.6302381313589182, + "pose": { + "rotation": { + "radians": -2.3237592010084906 + }, + "translation": { + "x": 0.8222425787905638, + "y": 0.7767857142857143 + } + }, + "time": 2.1030302993170182, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.5623714732537682, + "pose": { + "rotation": { + "radians": -2.3761216742371145 + }, + "translation": { + "x": 0.7608713690841664, + "y": 0.7147042410714286 + } + }, + "time": 2.1903259733065275, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.4641994068544356, + "pose": { + "rotation": { + "radians": -2.426610188308126 + }, + "translation": { + "x": 0.6882122564417434, + "y": 0.6484375 + } + }, + "time": 2.2886653226139746, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.3644631920280975, + "pose": { + "rotation": { + "radians": -2.4727646530940817 + }, + "translation": { + "x": 0.6020076602760897, + "y": 0.5771484375 + } + }, + "time": 2.400528465928528, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.31900430614143327, + "pose": { + "rotation": { + "radians": -2.493845124623491 + }, + "translation": { + "x": 0.5531203119385497, + "y": 0.5393589564732143 + } + }, + "time": 2.462318576008943, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.2776787285396064, + "pose": { + "rotation": { + "radians": -2.513530282240984 + }, + "translation": { + "x": 0.5000000000000001, + "y": 0.5 + } + }, + "time": 2.52843132058296, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.16149941110126012, + "pose": { + "rotation": { + "radians": -2.5286828834769617 + }, + "translation": { + "x": 0.44264672446044084, + "y": 0.45907156808035715 + } + }, + "time": 2.59889077526803, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.07962494904972045, + "pose": { + "rotation": { + "radians": -2.537406964100821 + }, + "translation": { + "x": 0.3821892756134746, + "y": 0.4169921875 + } + }, + "time": 2.6725506516669904, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": -0.012741582075827595, + "pose": { + "rotation": { + "radians": -2.5408334253870968 + }, + "translation": { + "x": 0.32003864132610454, + "y": 0.3742850167410714 + } + }, + "time": 2.7479602251743023, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.05185978219205491, + "pose": { + "rotation": { + "radians": -2.539376314483957 + }, + "translation": { + "x": 0.25760580946533385, + "y": 0.3314732142857143 + } + }, + "time": 2.823661671155418, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.12595034511604572, + "pose": { + "rotation": { + "radians": -2.532861598964916 + }, + "translation": { + "x": 0.19630176789816578, + "y": 0.28907993861607145 + } + }, + "time": 2.898196061435821, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.22532033615872293, + "pose": { + "rotation": { + "radians": -2.5204739603382444 + }, + "translation": { + "x": 0.13753750449160335, + "y": 0.2476283482142857 + } + }, + "time": 2.970109015766409, + "velocity": 1.0 + }, + { + "acceleration": 0.0, + "curvature": 0.37790122771354123, + "pose": { + "rotation": { + "radians": -2.500489992864539 + }, + "translation": { + "x": 0.08272400711264993, + "y": 0.2076416015625 + } + }, + "time": 3.0379578138597183, + "velocity": 1.0 + }, + { + "acceleration": -0.7808367222958574, + "curvature": 0.643100281423417, + "pose": { + "rotation": { + "radians": -2.469624398069973 + }, + "translation": { + "x": 0.03327226362830871, + "y": 0.16964285714285715 + } + }, + "time": 3.100322703911016, + "velocity": 1.0 + }, + { + "acceleration": -2.0000000000000013, + "curvature": 1.1682894119278024, + "pose": { + "rotation": { + "radians": -2.4214787747418027 + }, + "translation": { + "x": -0.009406738094417166, + "y": 0.1341552734375 + } + }, + "time": 3.1570862168452316, + "velocity": 0.9556769646144485 + }, + { + "acceleration": -1.9999999999999973, + "curvature": 2.3859297141582556, + "pose": { + "rotation": { + "radians": -2.3425427551974622 + }, + "translation": { + "x": -0.043902010188524576, + "y": 0.10170200892857145 + } + }, + "time": 3.209521554480146, + "velocity": 0.8508062893446202 + }, + { + "acceleration": -2.0, + "curvature": 3.6335580164415213, + "pose": { + "rotation": { + "radians": -2.2828580802251595 + }, + "translation": { + "x": -0.05763981391640782, + "y": 0.0867767333984375 + } + }, + "time": 3.2340723671528675, + "velocity": 0.8017046639991773 + }, + { + "acceleration": -2.0, + "curvature": 5.841092214253137, + "pose": { + "rotation": { + "radians": -2.200519405360358 + }, + "translation": { + "x": -0.06880256478701008, + "y": 0.07280622209821425 + } + }, + "time": 3.2570356450944873, + "velocity": 0.7557781081159377 + }, + { + "acceleration": -1.9999999999999925, + "curvature": 7.5722712875404525, + "pose": { + "rotation": { + "radians": -2.1471266820536137 + }, + "translation": { + "x": -0.07336317868727615, + "y": 0.06619943891252789 + } + }, + "time": 3.267811450649993, + "velocity": 0.7342264970049263 + }, + { + "acceleration": -1.999999999999996, + "curvature": 9.960064242378692, + "pose": { + "rotation": { + "radians": -2.082661298108728 + }, + "translation": { + "x": -0.07721388931695627, + "y": 0.05985586983816965 + } + }, + "time": 3.2780615616135376, + "velocity": 0.7137262750778367 + }, + { + "acceleration": -2.0, + "curvature": 13.261968099207715, + "pose": { + "rotation": { + "radians": -2.004145319849071 + }, + "translation": { + "x": -0.0803326499906285, + "y": 0.05378368922642296 + } + }, + "time": 3.287757559542795, + "velocity": 0.6943342792193219 + }, + { + "acceleration": -1.999999999999991, + "curvature": 15.349391948059386, + "pose": { + "rotation": { + "radians": -1.9584991400142493 + }, + "translation": { + "x": -0.08161065950476731, + "y": 0.05085192407880512 + } + }, + "time": 3.2923946835700995, + "velocity": 0.6850600311647128 + }, + { + "acceleration": -2.0000000000000093, + "curvature": 17.775613626621393, + "pose": { + "rotation": { + "radians": -1.9079248174526666 + }, + "translation": { + "x": -0.0826974140228709, + "y": 0.0479910714285714 + } + }, + "time": 3.2968914182980864, + "velocity": 0.6760665617087386 + }, + { + "acceleration": -2.0, + "curvature": 20.564297760595316, + "pose": { + "rotation": { + "radians": -1.8519014546201613 + }, + "translation": { + "x": -0.08359015770926148, + "y": 0.04520215306963238 + } + }, + "time": 3.3012509375882564, + "velocity": 0.6673475231283984 + }, + { + "acceleration": -2.00000000000001, + "curvature": 23.715608877026085, + "pose": { + "rotation": { + "radians": -1.7899311131774183 + }, + "translation": { + "x": -0.0842861347282613, + "y": 0.04248619079589844 + } + }, + "time": 3.3054790115582726, + "velocity": 0.6588913751883662 + }, + { + "acceleration": -2.0, + "curvature": 27.189129255565305, + "pose": { + "rotation": { + "radians": -1.7215918215799086 + }, + "translation": { + "x": -0.08478258924419291, + "y": 0.03984420640127995 + } + }, + "time": 3.3095845125651975, + "velocity": 0.6506803731745161 + }, + { + "acceleration": -2.0, + "curvature": 30.883290083634527, + "pose": { + "rotation": { + "radians": -1.6466125428161849 + }, + "translation": { + "x": -0.08507676542137821, + "y": 0.0372772216796875 + } + }, + "time": 3.3135799450469086, + "velocity": 0.6426895082110943 + }, + { + "acceleration": -1.9999999999999771, + "curvature": 34.61643207697983, + "pose": { + "rotation": { + "radians": -1.5649684441271745 + }, + "translation": { + "x": -0.08516590742413976, + "y": 0.03478625842503141 + } + }, + "time": 3.317481959084308, + "velocity": 0.634885480136296 + }, + { + "acceleration": -2.0, + "curvature": 36.41673084842612, + "pose": { + "rotation": { + "radians": -1.5217325782212103 + }, + "translation": { + "x": -0.08513272941146222, + "y": 0.033569604158401434 + } + }, + "time": 3.3194048318552505, + "velocity": 0.6310397345944112 + }, + { + "acceleration": -2.0, + "curvature": 38.11965972183798, + "pose": { + "rotation": { + "radians": -1.4769856740539578 + }, + "translation": { + "x": -0.08504725941679958, + "y": 0.03237233843122206 + } + }, + "time": 3.3213127190597223, + "velocity": 0.6272239601854677 + }, + { + "acceleration": -1.9999999999999765, + "curvature": 39.680953596251996, + "pose": { + "rotation": { + "radians": -1.4308383360767607 + }, + "translation": { + "x": -0.08490915296069201, + "y": 0.031194588967731973 + } + }, + "time": 3.323209035685624, + "velocity": 0.6234313269336637 + }, + { + "acceleration": -1.9999999999999762, + "curvature": 41.05512178928634, + "pose": { + "rotation": { + "radians": -1.3834320579244794 + }, + "translation": { + "x": -0.08471806556368011, + "y": 0.03003648349217003 + } + }, + "time": 3.325097504530002, + "velocity": 0.6196543892449078 + }, + { + "acceleration": -1.999999999999976, + "curvature": 42.19798317269199, + "pose": { + "rotation": { + "radians": -1.3349387553534076 + }, + "translation": { + "x": -0.0844736527463037, + "y": 0.028898149728775024 + } + }, + "time": 3.326982150396034, + "velocity": 0.6158850975128444 + }, + { + "acceleration": -2.0, + "curvature": 43.0695549065878, + "pose": { + "rotation": { + "radians": -1.2855587029566669 + }, + "translation": { + "x": -0.08417557002910336, + "y": 0.027779715401785754 + } + }, + "time": 3.3288672891522357, + "velocity": 0.6121148200004412 + }, + { + "acceleration": -2.000000000000024, + "curvature": 43.63700751994001, + "pose": { + "rotation": { + "radians": -1.2355167832596736 + }, + "translation": { + "x": -0.08382347293261927, + "y": 0.026681308235441015 + } + }, + "time": 3.3307575117143924, + "velocity": 0.6083343748761276 + }, + { + "acceleration": -2.0, + "curvature": 43.877330084679706, + "pose": { + "rotation": { + "radians": -1.1850571236540008 + }, + "translation": { + "x": -0.0834170169773919, + "y": 0.025603055953979437 + } + }, + "time": 3.332657663350649, + "velocity": 0.604534071603615 + }, + { + "acceleration": -2.0, + "curvature": 43.77933999343348, + "pose": { + "rotation": { + "radians": -1.1344363808123417 + }, + "translation": { + "x": -0.08295585768396119, + "y": 0.02454508628164015 + } + }, + "time": 3.3345728190638066, + "velocity": 0.6007037601772995 + }, + { + "acceleration": -2.000000000000024, + "curvature": 43.34473637514813, + "pose": { + "rotation": { + "radians": -1.083916102572679 + }, + "translation": { + "x": -0.0824396505728675, + "y": 0.023507526942661783 + } + }, + "time": 3.3365082561315424, + "velocity": 0.5968328860418279 + }, + { + "acceleration": -1.9999999999999765, + "curvature": 42.588028498451074, + "pose": { + "rotation": { + "radians": -1.0337547208598437 + }, + "translation": { + "x": -0.08186805116465157, + "y": 0.02249050566128319 + } + }, + "time": 3.3384694251434603, + "velocity": 0.5929105480179918 + }, + { + "acceleration": -2.000000000000023, + "curvature": 41.53534355364406, + "pose": { + "rotation": { + "radians": -0.9841997802056115 + }, + "translation": { + "x": -0.08124071497985308, + "y": 0.021494150161743164 + } + }, + "time": 3.34046192102962, + "velocity": 0.5889255562456722 + }, + { + "acceleration": -2.000000000000023, + "curvature": 40.22229122406194, + "pose": { + "rotation": { + "radians": -0.935480973766528 + }, + "translation": { + "x": -0.08055729753901275, + "y": 0.020518588168280505 + } + }, + "time": 3.3424914556093235, + "velocity": 0.5848664870862655 + }, + { + "acceleration": -1.9999999999999774, + "curvature": 38.69119447654324, + "pose": { + "rotation": { + "radians": -0.887804449537211 + }, + "translation": { + "x": -0.07981745436267063, + "y": 0.019563947405134008 + } + }, + "time": 3.3445638331015197, + "velocity": 0.5807217321018726 + }, + { + "acceleration": -1.9999999999999778, + "curvature": 36.98805943666322, + "pose": { + "rotation": { + "radians": -0.8413486868007395 + }, + "translation": { + "x": -0.07902084097136686, + "y": 0.018630355596542303 + } + }, + "time": 3.3466849298480974, + "velocity": 0.5764795386087174 + }, + { + "acceleration": -1.9999999999999891, + "curvature": 35.15964570660894, + "pose": { + "rotation": { + "radians": -0.7962620588663976 + }, + "translation": { + "x": -0.07816711288564204, + "y": 0.01771794046674452 + } + }, + "time": 3.348860679241734, + "velocity": 0.5721280398214441 + }, + { + "acceleration": -2.00000000000001, + "curvature": 31.303118282225007, + "pose": { + "rotation": { + "radians": -0.7106357578709402 + }, + "translation": { + "x": -0.07628693471309012, + "y": 0.01595715114048546 + } + }, + "time": 3.3533990574136796, + "velocity": 0.5630512834775531 + }, + { + "acceleration": -1.9999999999999902, + "curvature": 27.428995177461147, + "pose": { + "rotation": { + "radians": -0.6315132855442873 + }, + "translation": { + "x": -0.07417416400933685, + "y": 0.0142826012202672 + } + }, + "time": 3.3582285130328335, + "velocity": 0.5533923722392453 + }, + { + "acceleration": -2.0, + "curvature": 23.75624189265796, + "pose": { + "rotation": { + "radians": -0.5590722011057767 + }, + "translation": { + "x": -0.07182604493870459, + "y": 0.012695312499999944 + } + }, + "time": 3.363398460204786, + "velocity": 0.5430524778953406 + }, + { + "acceleration": -1.9999999999999911, + "curvature": 20.414249721574574, + "pose": { + "rotation": { + "radians": -0.4931797061696271 + }, + "translation": { + "x": -0.06923982166551546, + "y": 0.0111963067735944 + } + }, + "time": 3.36895993414091, + "velocity": 0.5319295300230922 + }, + { + "acceleration": -1.9999999999999918, + "curvature": 17.459934497401907, + "pose": { + "rotation": { + "radians": -0.4334957798412308 + }, + "translation": { + "x": -0.06641273835409178, + "y": 0.009786605834960938 + } + }, + "time": 3.374966631861679, + "velocity": 0.5199161345815548 + }, + { + "acceleration": -2.0, + "curvature": 14.9001811661835, + "pose": { + "rotation": { + "radians": -0.3795612382681966 + }, + "translation": { + "x": -0.0633420391687558, + "y": 0.008467231478009984 + } + }, + "time": 3.381476380148027, + "velocity": 0.5068966380088588 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 12.711979997378924, + "pose": { + "rotation": { + "radians": -0.33086402033744416 + }, + "translation": { + "x": -0.06002496827382975, + "y": 0.007239205496651802 + } + }, + "time": 3.388553109477197, + "velocity": 0.4927431793505188 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 9.293401276465811, + "pose": { + "rotation": { + "radians": -0.2471227409523188 + }, + "translation": { + "x": -0.052640688012496994, + "y": 0.005061285836356011 + } + }, + "time": 3.4047069789966478, + "velocity": 0.46043544031161765 + }, + { + "acceleration": -2.0000000000000013, + "curvature": 6.87086543118763, + "pose": { + "rotation": { + "radians": -0.17844137117241632 + }, + "translation": { + "x": -0.04423785088467114, + "y": 0.0032610212053570953 + } + }, + "time": 3.424195782221518, + "velocity": 0.42145783386187696 + }, + { + "acceleration": -2.0000000000000018, + "curvature": 5.153442078046409, + "pose": { + "rotation": { + "radians": -0.1216295798723478 + }, + "translation": { + "x": -0.03479441020493046, + "y": 0.0018465859549386399 + } + }, + "time": 3.4482220037806184, + "velocity": 0.37340539074367585 + }, + { + "acceleration": -1.9999999999999998, + "curvature": 3.9250768863984966, + "pose": { + "rotation": { + "radians": -0.07417082549076627 + }, + "translation": { + "x": -0.02428831928785291, + "y": 0.0008261544363838969 + } + }, + "time": 3.479032538249631, + "velocity": 0.31178432180564974 + }, + { + "acceleration": -1.9999999999999998, + "curvature": 2.3809523809523805, + "pose": { + "rotation": { + "radians": 0.0 + }, + "translation": { + "x": 0.0, + "y": 0.0 + } + }, + "time": 3.634924699152456, + "velocity": 0.0 + } +] diff --git a/autonomous/routines/routine_1/auto_routine.json b/autonomous/routines/routine_1/auto_routine.json deleted file mode 100644 index ea9c624..0000000 --- a/autonomous/routines/routine_1/auto_routine.json +++ /dev/null @@ -1,2646 +0,0 @@ -{ - "trajectory_1": [ - { - "acceleration": 2.0000000000000004, - "curvature": 2.3809523809523814, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 0.0, - "y": 0.0 - } - }, - "time": 0.0, - "velocity": 0.0 - }, - { - "acceleration": 2.000000000000001, - "curvature": 2.595325966847042, - "pose": { - "rotation": { - "radians": 0.06460283167616494 - }, - "translation": { - "x": 0.025940628160620836, - "y": 0.0008261544363839286 - } - }, - "time": 0.1611017705266734, - "velocity": 0.32220354105334686 - }, - { - "acceleration": 1.999999999999999, - "curvature": 2.787492742305355, - "pose": { - "rotation": { - "radians": 0.13177918578963022 - }, - "translation": { - "x": 0.05075989329538541, - "y": 0.003261021205357143 - } - }, - "time": 0.22559298431162372, - "velocity": 0.45118596862324756 - }, - { - "acceleration": 2.0, - "curvature": 2.9449252494021136, - "pose": { - "rotation": { - "radians": 0.20086675304867105 - }, - "translation": { - "x": 0.07450337926713341, - "y": 0.007239205496651787 - } - }, - "time": 0.27380037105598976, - "velocity": 0.5476007421119795 - }, - { - "acceleration": 2.0000000000000013, - "curvature": 3.0563610293310313, - "pose": { - "rotation": { - "radians": 0.271067404114427 - }, - "translation": { - "x": 0.09721666993870451, - "y": 0.0126953125 - } - }, - "time": 0.3135698756503563, - "velocity": 0.6271397513007126 - }, - { - "acceleration": 2.0000000000000013, - "curvature": 3.1135922042633504, - "pose": { - "rotation": { - "radians": 0.34148963883778916 - }, - "translation": { - "x": 0.11894534917293839, - "y": 0.01956394740513393 - } - }, - "time": 0.34801511627663584, - "velocity": 0.6960302325532717 - }, - { - "acceleration": 2.0, - "curvature": 3.112845373687687, - "pose": { - "rotation": { - "radians": 0.4112057410202867 - }, - "translation": { - "x": 0.13973500083267476, - "y": 0.02777971540178572 - } - }, - "time": 0.3787725979355451, - "velocity": 0.7575451958710901 - }, - { - "acceleration": 2.0, - "curvature": 3.055332259900253, - "pose": { - "rotation": { - "radians": 0.4793147718377678 - }, - "translation": { - "x": 0.15963120878075332, - "y": 0.0372772216796875 - } - }, - "time": 0.4068359476982932, - "velocity": 0.8136718953965864 - }, - { - "acceleration": 2.0, - "curvature": 2.9468175976334776, - "pose": { - "rotation": { - "radians": 0.5450007702314661 - }, - "translation": { - "x": 0.1786795568800137, - "y": 0.04799107142857143 - } - }, - "time": 0.43286273556068766, - "velocity": 0.8657254711213753 - }, - { - "acceleration": 2.0000000000000027, - "curvature": 2.796384020129445, - "pose": { - "rotation": { - "radians": 0.6075769725261475 - }, - "translation": { - "x": 0.19692562899329563, - "y": 0.059855869838169644 - } - }, - "time": 0.45731239630972664, - "velocity": 0.9146247926194533 - }, - { - "acceleration": 1.749932129781575, - "curvature": 2.6148056057208007, - "pose": { - "rotation": { - "radians": 0.666510847769103 - }, - "translation": { - "x": 0.21441500898343874, - "y": 0.07280622209821429 - } - }, - "time": 0.48051717108354774, - "velocity": 0.9610343421670956 - }, - { - "acceleration": 0.0, - "curvature": 2.4129782382963043, - "pose": { - "rotation": { - "radians": 0.7214295479787702 - }, - "translation": { - "x": 0.23119328071328277, - "y": 0.0867767333984375 - } - }, - "time": 0.5027841248526451, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 2.2007240886301007, - "pose": { - "rotation": { - "radians": 0.7721092401780296 - }, - "translation": { - "x": 0.24730602804566743, - "y": 0.10170200892857144 - } - }, - "time": 0.524747377713906, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.9860923592042752, - "pose": { - "rotation": { - "radians": 0.8184537703343066 - }, - "translation": { - "x": 0.26279883484343236, - "y": 0.11751665387834821 - } - }, - "time": 0.5468862588365004, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.7751158042945765, - "pose": { - "rotation": { - "radians": 0.8604682380066073 - }, - "translation": { - "x": 0.2777172849694172, - "y": 0.1341552734375 - } - }, - "time": 0.5692336035332577, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.378877735802265, - "pose": { - "rotation": { - "radians": 0.9318738882940065 - }, - "translation": { - "x": 0.3060134506574056, - "y": 0.16964285714285715 - } - }, - "time": 0.6146212845699313, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.0269790123916365, - "pose": { - "rotation": { - "radians": 0.9874352146007722 - }, - "translation": { - "x": 0.33255919601235007, - "y": 0.2076416015625 - } - }, - "time": 0.6609740749273509, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.7184011472705635, - "pose": { - "rotation": { - "radians": 1.028489463266511 - }, - "translation": { - "x": 0.357719191936968, - "y": 0.24762834821428573 - } - }, - "time": 0.7082177549567569, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.1930851987713053, - "pose": { - "rotation": { - "radians": 1.0716201459130537 - }, - "translation": { - "x": 0.40534061910609465, - "y": 0.3314732142857143 - } - }, - "time": 0.8046426578198671, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2916630807647434, - "pose": { - "rotation": { - "radians": 1.0669149846908788 - }, - "translation": { - "x": 0.4517950993865254, - "y": 0.41699218749999994 - } - }, - "time": 0.9019643589853864, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.837092751266262, - "pose": { - "rotation": { - "radians": 1.0137255642722038 - }, - "translation": { - "x": 0.5, - "y": 0.5 - } - }, - "time": 0.9979539906087557, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.800067132725784, - "pose": { - "rotation": { - "radians": 0.9371365584178165 - }, - "translation": { - "x": 0.5522892147239105, - "y": 0.5771484375 - } - }, - "time": 1.0911529358020067, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.7305970666123351, - "pose": { - "rotation": { - "radians": 0.8673303065438499 - }, - "translation": { - "x": 0.6086627435582567, - "y": 0.6484375 - } - }, - "time": 1.1820380566159538, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6353268212231772, - "pose": { - "rotation": { - "radians": 0.8061523795916493 - }, - "translation": { - "x": 0.6685371130586908, - "y": 0.7147042410714286 - } - }, - "time": 1.2713477486728761, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.521996158571609, - "pose": { - "rotation": { - "radians": 0.7549381802864602 - }, - "translation": { - "x": 0.7313288497808648, - "y": 0.7767857142857143 - } - }, - "time": 1.3596478705133521, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3975528759100238, - "pose": { - "rotation": { - "radians": 0.7145498145006239 - }, - "translation": { - "x": 0.7964544802804306, - "y": 0.8355189732142857 - } - }, - "time": 1.4473458947347484, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2671592856148399, - "pose": { - "rotation": { - "radians": 0.6854795494256645 - }, - "translation": { - "x": 0.8633305311130404, - "y": 0.8917410714285714 - } - }, - "time": 1.5347148280153062, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.13405818704189948, - "pose": { - "rotation": { - "radians": 0.6679716319317236 - }, - "translation": { - "x": 0.9313735288343461, - "y": 0.9462890625 - } - }, - "time": 1.6219233876228945, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.0, - "pose": { - "rotation": { - "radians": 0.6621270389708964 - }, - "translation": { - "x": 0.9999999999999999, - "y": 1.0 - } - }, - "time": 1.7090695714279196, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.13405818704189962, - "pose": { - "rotation": { - "radians": 0.6679716319317235 - }, - "translation": { - "x": 1.0686264711656537, - "y": 1.0537109375 - } - }, - "time": 1.7962157552329447, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.2671592856148402, - "pose": { - "rotation": { - "radians": 0.6854795494256642 - }, - "translation": { - "x": 1.1366694688869594, - "y": 1.1082589285714286 - } - }, - "time": 1.883424314840533, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3975528759100245, - "pose": { - "rotation": { - "radians": 0.7145498145006239 - }, - "translation": { - "x": 1.2035455197195692, - "y": 1.1644810267857144 - } - }, - "time": 1.970793248121091, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.52199615857161, - "pose": { - "rotation": { - "radians": 0.7549381802864603 - }, - "translation": { - "x": 1.2686711502191352, - "y": 1.2232142857142858 - } - }, - "time": 2.0584912723424873, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6353268212231779, - "pose": { - "rotation": { - "radians": 0.8061523795916495 - }, - "translation": { - "x": 1.3314628869413092, - "y": 1.2852957589285716 - } - }, - "time": 2.146791394182963, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.7305970666123357, - "pose": { - "rotation": { - "radians": 0.8673303065438502 - }, - "translation": { - "x": 1.3913372564417432, - "y": 1.3515625 - } - }, - "time": 2.236101086239885, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.8000671327257849, - "pose": { - "rotation": { - "radians": 0.937136558417817 - }, - "translation": { - "x": 1.4477107852760895, - "y": 1.4228515625 - } - }, - "time": 2.3269862070538325, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.8370927512662617, - "pose": { - "rotation": { - "radians": 1.0137255642722043 - }, - "translation": { - "x": 1.5, - "y": 1.5000000000000002 - } - }, - "time": 2.420185152247084, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.2916630807647438, - "pose": { - "rotation": { - "radians": 1.0669149846908788 - }, - "translation": { - "x": 1.5482049006134746, - "y": 1.5830078125 - } - }, - "time": 2.516174783870453, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.1930851987713047, - "pose": { - "rotation": { - "radians": 1.0716201459130534 - }, - "translation": { - "x": 1.5946593808939054, - "y": 1.6685267857142856 - } - }, - "time": 2.6134964850359723, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.7184011472705635, - "pose": { - "rotation": { - "radians": 1.028489463266511 - }, - "translation": { - "x": 1.642280808063032, - "y": 1.7523716517857144 - } - }, - "time": 2.7099213878990827, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.0269790123916358, - "pose": { - "rotation": { - "radians": 0.9874352146007725 - }, - "translation": { - "x": 1.6674408039876498, - "y": 1.7923583984375 - } - }, - "time": 2.7571650679284883, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.378877735802265, - "pose": { - "rotation": { - "radians": 0.9318738882940066 - }, - "translation": { - "x": 1.6939865493425943, - "y": 1.8303571428571428 - } - }, - "time": 2.803517858285908, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.7751158042945763, - "pose": { - "rotation": { - "radians": 0.8604682380066074 - }, - "translation": { - "x": 1.7222827150305826, - "y": 1.8658447265625 - } - }, - "time": 2.8489055393225815, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.9860923592042752, - "pose": { - "rotation": { - "radians": 0.8184537703343068 - }, - "translation": { - "x": 1.7372011651565675, - "y": 1.882483346121652 - } - }, - "time": 2.8712528840193388, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -2.2007240886301, - "pose": { - "rotation": { - "radians": 0.7721092401780295 - }, - "translation": { - "x": 1.7526939719543324, - "y": 1.8982979910714286 - } - }, - "time": 2.893391765141933, - "velocity": 1.0 - }, - { - "acceleration": -1.7499321297815522, - "curvature": -2.4129782382963048, - "pose": { - "rotation": { - "radians": 0.7214295479787705 - }, - "translation": { - "x": 1.7688067192867172, - "y": 1.9132232666015625 - } - }, - "time": 2.915355018003194, - "velocity": 1.0 - }, - { - "acceleration": -2.0000000000000027, - "curvature": -2.6148056057208007, - "pose": { - "rotation": { - "radians": 0.6665108477691031 - }, - "translation": { - "x": 1.7855849910165613, - "y": 1.9271937779017858 - } - }, - "time": 2.9376219717722916, - "velocity": 0.9610343421670957 - }, - { - "acceleration": -2.0, - "curvature": -2.796384020129447, - "pose": { - "rotation": { - "radians": 0.6075769725261476 - }, - "translation": { - "x": 1.8030743710067043, - "y": 1.9401441301618303 - } - }, - "time": 2.9608267465461124, - "velocity": 0.9146247926194542 - }, - { - "acceleration": -2.0, - "curvature": -2.946817597633479, - "pose": { - "rotation": { - "radians": 0.5450007702314662 - }, - "translation": { - "x": 1.821320443119986, - "y": 1.9520089285714286 - } - }, - "time": 2.985276407295151, - "velocity": 0.8657254711213762 - }, - { - "acceleration": -2.0000000000000027, - "curvature": -3.055332259900255, - "pose": { - "rotation": { - "radians": 0.479314771837768 - }, - "translation": { - "x": 1.8403687912192466, - "y": 1.9627227783203125 - } - }, - "time": 3.011303195157546, - "velocity": 0.8136718953965866 - }, - { - "acceleration": -2.0, - "curvature": -3.1128453736876884, - "pose": { - "rotation": { - "radians": 0.41120574102028656 - }, - "translation": { - "x": 1.8602649991673252, - "y": 1.9722202845982142 - } - }, - "time": 3.0393665449202945, - "velocity": 0.7575451958710898 - }, - { - "acceleration": -2.0000000000000013, - "curvature": -3.1135922042633504, - "pose": { - "rotation": { - "radians": 0.34148963883778904 - }, - "translation": { - "x": 1.8810546508270616, - "y": 1.9804360525948659 - } - }, - "time": 3.070124026579204, - "velocity": 0.696030232553271 - }, - { - "acceleration": -1.999999999999999, - "curvature": -3.056361029331032, - "pose": { - "rotation": { - "radians": 0.27106740411442715 - }, - "translation": { - "x": 1.9027833300612955, - "y": 1.9873046875 - } - }, - "time": 3.1045692672054837, - "velocity": 0.6271397513007115 - }, - { - "acceleration": -2.0, - "curvature": -2.9449252494021136, - "pose": { - "rotation": { - "radians": 0.20086675304867097 - }, - "translation": { - "x": 1.9254966207328665, - "y": 1.992760794503348 - } - }, - "time": 3.1443387717998506, - "velocity": 0.547600742111978 - }, - { - "acceleration": -1.9999999999999998, - "curvature": -2.7874927423053566, - "pose": { - "rotation": { - "radians": 0.13177918578963033 - }, - "translation": { - "x": 1.9492401067046146, - "y": 1.9967389787946428 - } - }, - "time": 3.1925461585442165, - "velocity": 0.45118596862324617 - }, - { - "acceleration": -2.0000000000000004, - "curvature": -2.595325966847042, - "pose": { - "rotation": { - "radians": 0.06460283167616503 - }, - "translation": { - "x": 1.974059371839379, - "y": 1.999173845563616 - } - }, - "time": 3.2570373723291666, - "velocity": 0.3222035410533462 - }, - { - "acceleration": -2.0000000000000004, - "curvature": -2.380952380952382, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 2.0, - "y": 2.0 - } - }, - "time": 3.4181391428558396, - "velocity": 0.0 - } - ], - "trajectory_2": [ - { - "acceleration": 2.0, - "curvature": -2.3809523809523814, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 2.0, - "y": 2.0 - } - }, - "time": 0.0, - "velocity": 0.0 - }, - { - "acceleration": 2.0, - "curvature": -3.925076886398501, - "pose": { - "rotation": { - "radians": -0.07417082549076623 - }, - "translation": { - "x": 2.024288319287853, - "y": 1.999173845563616 - } - }, - "time": 0.1558921609028255, - "velocity": 0.311784321805651 - }, - { - "acceleration": 2.0, - "curvature": -5.153442078046409, - "pose": { - "rotation": { - "radians": -0.1216295798723478 - }, - "translation": { - "x": 2.0347944102049302, - "y": 1.9981534140450614 - } - }, - "time": 0.1867026953718375, - "velocity": 0.373405390743675 - }, - { - "acceleration": 2.0, - "curvature": -6.870865431187638, - "pose": { - "rotation": { - "radians": -0.17844137117241632 - }, - "translation": { - "x": 2.044237850884671, - "y": 1.9967389787946428 - } - }, - "time": 0.210728916930938, - "velocity": 0.421457833861876 - }, - { - "acceleration": 2.0, - "curvature": -9.293401276465815, - "pose": { - "rotation": { - "radians": -0.24712274095231881 - }, - "translation": { - "x": 2.052640688012497, - "y": 1.9949387141636439 - } - }, - "time": 0.23021772015580907, - "velocity": 0.46043544031161815 - }, - { - "acceleration": 2.0, - "curvature": -12.711979997378936, - "pose": { - "rotation": { - "radians": -0.33086402033744444 - }, - "translation": { - "x": 2.06002496827383, - "y": 1.9927607945033483 - } - }, - "time": 0.24637158967525977, - "velocity": 0.49274317935051953 - }, - { - "acceleration": 1.9999999999999918, - "curvature": -14.900181166183526, - "pose": { - "rotation": { - "radians": -0.379561238268197 - }, - "translation": { - "x": 2.063342039168756, - "y": 1.9915327685219901 - } - }, - "time": 0.25344831900442966, - "velocity": 0.5068966380088593 - }, - { - "acceleration": 2.0, - "curvature": -17.459934497401925, - "pose": { - "rotation": { - "radians": -0.4334957798412309 - }, - "translation": { - "x": 2.066412738354092, - "y": 1.990213394165039 - } - }, - "time": 0.25995806729077736, - "velocity": 0.5199161345815547 - }, - { - "acceleration": 1.9999999999999907, - "curvature": -20.414249721574603, - "pose": { - "rotation": { - "radians": -0.49317970616962725 - }, - "translation": { - "x": 2.0692398216655152, - "y": 1.9888036932264055 - } - }, - "time": 0.26596476501154587, - "velocity": 0.5319295300230917 - }, - { - "acceleration": 2.0, - "curvature": -23.75624189265799, - "pose": { - "rotation": { - "radians": -0.5590722011057766 - }, - "translation": { - "x": 2.0718260449387045, - "y": 1.9873046875 - } - }, - "time": 0.27152623894767053, - "velocity": 0.5430524778953411 - }, - { - "acceleration": 1.9999999999999898, - "curvature": -27.428995177461175, - "pose": { - "rotation": { - "radians": -0.6315132855442878 - }, - "translation": { - "x": 2.074174164009337, - "y": 1.9857173987797327 - } - }, - "time": 0.2766961861196231, - "velocity": 0.5533923722392462 - }, - { - "acceleration": 2.0, - "curvature": -31.303118282225075, - "pose": { - "rotation": { - "radians": -0.7106357578709409 - }, - "translation": { - "x": 2.07628693471309, - "y": 1.9840428488595145 - } - }, - "time": 0.2815256417387766, - "velocity": 0.5630512834775532 - }, - { - "acceleration": 2.000000000000022, - "curvature": -35.159645706609, - "pose": { - "rotation": { - "radians": -0.7962620588663979 - }, - "translation": { - "x": 2.0781671128856423, - "y": 1.9822820595332555 - } - }, - "time": 0.2860640199107224, - "velocity": 0.5721280398214448 - }, - { - "acceleration": 2.0, - "curvature": -36.988059436663285, - "pose": { - "rotation": { - "radians": -0.8413486868007399 - }, - "translation": { - "x": 2.079020840971367, - "y": 1.9813696444034576 - } - }, - "time": 0.2882397693043589, - "velocity": 0.5764795386087178 - }, - { - "acceleration": 1.9999999999999771, - "curvature": -38.6911944765433, - "pose": { - "rotation": { - "radians": -0.8878044495372119 - }, - "translation": { - "x": 2.0798174543626704, - "y": 1.980436052594866 - } - }, - "time": 0.2903608660509362, - "velocity": 0.5807217321018724 - }, - { - "acceleration": 2.000000000000023, - "curvature": -40.22229122406195, - "pose": { - "rotation": { - "radians": -0.9354809737665283 - }, - "translation": { - "x": 2.0805572975390128, - "y": 1.9794814118317194 - } - }, - "time": 0.2924332435431329, - "velocity": 0.5848664870862658 - }, - { - "acceleration": 1.9999999999999765, - "curvature": -41.535343553644125, - "pose": { - "rotation": { - "radians": -0.9841997802056122 - }, - "translation": { - "x": 2.0812407149798533, - "y": 1.9785058498382568 - } - }, - "time": 0.2944627781228363, - "velocity": 0.5889255562456726 - }, - { - "acceleration": 2.000000000000024, - "curvature": -42.588028498451095, - "pose": { - "rotation": { - "radians": -1.033754720859844 - }, - "translation": { - "x": 2.0818680511646517, - "y": 1.9775094943387168 - } - }, - "time": 0.29645527400899585, - "velocity": 0.5929105480179917 - }, - { - "acceleration": 2.0, - "curvature": -43.344736375148244, - "pose": { - "rotation": { - "radians": -1.0839161025726805 - }, - "translation": { - "x": 2.0824396505728675, - "y": 1.976492473057338 - } - }, - "time": 0.29841644302091386, - "velocity": 0.5968328860418277 - }, - { - "acceleration": 2.000000000000024, - "curvature": -43.77933999343355, - "pose": { - "rotation": { - "radians": -1.1344363808123423 - }, - "translation": { - "x": 2.0829558576839613, - "y": 1.97545491371836 - } - }, - "time": 0.30035188008864977, - "velocity": 0.6007037601772995 - }, - { - "acceleration": 1.999999999999976, - "curvature": -43.87733008467971, - "pose": { - "rotation": { - "radians": -1.1850571236540004 - }, - "translation": { - "x": 2.083417016977392, - "y": 1.9743969440460205 - } - }, - "time": 0.3022670358018074, - "velocity": 0.6045340716036148 - }, - { - "acceleration": 1.999999999999976, - "curvature": -43.637007519940035, - "pose": { - "rotation": { - "radians": -1.2355167832596747 - }, - "translation": { - "x": 2.0838234729326195, - "y": 1.973318691764559 - } - }, - "time": 0.30416718743806354, - "velocity": 0.6083343748761271 - }, - { - "acceleration": 2.0, - "curvature": -43.06955490658779, - "pose": { - "rotation": { - "radians": -1.2855587029566673 - }, - "translation": { - "x": 2.084175570029103, - "y": 1.9722202845982142 - } - }, - "time": 0.3060574100002201, - "velocity": 0.6121148200004402 - }, - { - "acceleration": 2.0, - "curvature": -42.197983172692034, - "pose": { - "rotation": { - "radians": -1.334938755353409 - }, - "translation": { - "x": 2.0844736527463037, - "y": 1.971101850271225 - } - }, - "time": 0.3079425487564216, - "velocity": 0.6158850975128431 - }, - { - "acceleration": 2.0, - "curvature": -41.0551217892863, - "pose": { - "rotation": { - "radians": -1.3834320579244797 - }, - "translation": { - "x": 2.08471806556368, - "y": 1.96996351650783 - } - }, - "time": 0.3098271946224532, - "velocity": 0.6196543892449063 - }, - { - "acceleration": 1.9999999999999767, - "curvature": -39.680953596252024, - "pose": { - "rotation": { - "radians": -1.4308383360767614 - }, - "translation": { - "x": 2.0849091529606922, - "y": 1.968805411032268 - } - }, - "time": 0.3117156634668311, - "velocity": 0.6234313269336622 - }, - { - "acceleration": 2.000000000000023, - "curvature": -38.11965972183801, - "pose": { - "rotation": { - "radians": -1.4769856740539584 - }, - "translation": { - "x": 2.0850472594167995, - "y": 1.967627661568778 - } - }, - "time": 0.31361198009273245, - "velocity": 0.6272239601854649 - }, - { - "acceleration": 2.0, - "curvature": -36.41673084842611, - "pose": { - "rotation": { - "radians": -1.5217325782212117 - }, - "translation": { - "x": 2.085132729411462, - "y": 1.9664303958415985 - } - }, - "time": 0.3155198672972044, - "velocity": 0.6310397345944088 - }, - { - "acceleration": 1.999999999999989, - "curvature": -34.61643207697982, - "pose": { - "rotation": { - "radians": -1.5649684441271747 - }, - "translation": { - "x": 2.0851659074241398, - "y": 1.9652137415749686 - } - }, - "time": 0.31744274006814643, - "velocity": 0.6348854801362929 - }, - { - "acceleration": 1.9999999999999893, - "curvature": -30.8832900836345, - "pose": { - "rotation": { - "radians": -1.646612542816186 - }, - "translation": { - "x": 2.085076765421378, - "y": 1.9627227783203125 - } - }, - "time": 0.3213447541055456, - "velocity": 0.6426895082110912 - }, - { - "acceleration": 2.0, - "curvature": -27.189129255565312, - "pose": { - "rotation": { - "radians": -1.721591821579909 - }, - "translation": { - "x": 2.084782589244193, - "y": 1.96015579359872 - } - }, - "time": 0.32534018658725694, - "velocity": 0.6506803731745139 - }, - { - "acceleration": 1.99999999999999, - "curvature": -23.715608877026064, - "pose": { - "rotation": { - "radians": -1.7899311131774194 - }, - "translation": { - "x": 2.0842861347282615, - "y": 1.9575138092041016 - } - }, - "time": 0.32944568759418175, - "velocity": 0.6588913751883635 - }, - { - "acceleration": 1.9999999999999905, - "curvature": -20.564297760595313, - "pose": { - "rotation": { - "radians": -1.8519014546201618 - }, - "translation": { - "x": 2.0835901577092613, - "y": 1.9547978469303675 - } - }, - "time": 0.33367376156419803, - "velocity": 0.6673475231283961 - }, - { - "acceleration": 2.000000000000009, - "curvature": -17.77561362662137, - "pose": { - "rotation": { - "radians": -1.9079248174526673 - }, - "translation": { - "x": 2.0826974140228707, - "y": 1.9520089285714286 - } - }, - "time": 0.33803328085436823, - "velocity": 0.6760665617087365 - }, - { - "acceleration": 1.9999999999999913, - "curvature": -15.34939194805936, - "pose": { - "rotation": { - "radians": -1.9584991400142502 - }, - "translation": { - "x": 2.081610659504767, - "y": 1.949148075921195 - } - }, - "time": 0.3425300155823549, - "velocity": 0.6850600311647098 - }, - { - "acceleration": 2.000000000000004, - "curvature": -13.261968099207705, - "pose": { - "rotation": { - "radians": -2.0041453198490715 - }, - "translation": { - "x": 2.0803326499906283, - "y": 1.946216310773577 - } - }, - "time": 0.3471671396096597, - "velocity": 0.6943342792193195 - }, - { - "acceleration": 2.0, - "curvature": -9.960064242378673, - "pose": { - "rotation": { - "radians": -2.0826612981087287 - }, - "translation": { - "x": 2.0772138893169565, - "y": 1.9401441301618303 - } - }, - "time": 0.35686313753891696, - "velocity": 0.7137262750778339 - }, - { - "acceleration": 2.0, - "curvature": -7.572271287540442, - "pose": { - "rotation": { - "radians": -2.1471266820536146 - }, - "translation": { - "x": 2.073363178687276, - "y": 1.933800561087472 - } - }, - "time": 0.36711324850246235, - "velocity": 0.7342264970049247 - }, - { - "acceleration": 2.0, - "curvature": -5.841092214253132, - "pose": { - "rotation": { - "radians": -2.2005194053603585 - }, - "translation": { - "x": 2.0688025647870103, - "y": 1.9271937779017858 - } - }, - "time": 0.3778890540579677, - "velocity": 0.7557781081159354 - }, - { - "acceleration": 2.0, - "curvature": -3.6335580164415155, - "pose": { - "rotation": { - "radians": -2.2828580802251603 - }, - "translation": { - "x": 2.0576398139164076, - "y": 1.9132232666015625 - } - }, - "time": 0.4008523319995877, - "velocity": 0.8017046639991754 - }, - { - "acceleration": 1.999999999999999, - "curvature": -2.3859297141582525, - "pose": { - "rotation": { - "radians": -2.3425427551974622 - }, - "translation": { - "x": 2.0439020101885244, - "y": 1.8982979910714286 - } - }, - "time": 0.4254031446723092, - "velocity": 0.8508062893446184 - }, - { - "acceleration": 0.7808367222958948, - "curvature": -1.168289411927801, - "pose": { - "rotation": { - "radians": -2.421478774741803 - }, - "translation": { - "x": 2.009406738094417, - "y": 1.8658447265625 - } - }, - "time": 0.47783848230722326, - "velocity": 0.9556769646144465 - }, - { - "acceleration": 0.0, - "curvature": -0.6431002814234164, - "pose": { - "rotation": { - "radians": -2.4696243980699735 - }, - "translation": { - "x": 1.9667277363716913, - "y": 1.8303571428571428 - } - }, - "time": 0.5346019952414388, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3779012277135409, - "pose": { - "rotation": { - "radians": -2.5004899928645394 - }, - "translation": { - "x": 1.91727599288735, - "y": 1.7923583984375 - } - }, - "time": 0.5969668852927363, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.22532033615872268, - "pose": { - "rotation": { - "radians": -2.520473960338245 - }, - "translation": { - "x": 1.8624624955083964, - "y": 1.7523716517857142 - } - }, - "time": 0.6648156833860457, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.1259503451160458, - "pose": { - "rotation": { - "radians": -2.5328615989649164 - }, - "translation": { - "x": 1.803698232101834, - "y": 1.7109200613839286 - } - }, - "time": 0.7367286377166338, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.05185978219205503, - "pose": { - "rotation": { - "radians": -2.539376314483957 - }, - "translation": { - "x": 1.7423941905346658, - "y": 1.6685267857142856 - } - }, - "time": 0.8112630279970368, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.012741582075827209, - "pose": { - "rotation": { - "radians": -2.540833425387097 - }, - "translation": { - "x": 1.679961358673895, - "y": 1.6257149832589286 - } - }, - "time": 0.8869644739781525, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.07962494904972009, - "pose": { - "rotation": { - "radians": -2.5374069641008212 - }, - "translation": { - "x": 1.617810724386525, - "y": 1.5830078125 - } - }, - "time": 0.9623740474854646, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.16149941110125976, - "pose": { - "rotation": { - "radians": -2.5286828834769617 - }, - "translation": { - "x": 1.557353275539559, - "y": 1.5409284319196428 - } - }, - "time": 1.0360339238844247, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.27767872853960485, - "pose": { - "rotation": { - "radians": -2.5135302822409846 - }, - "translation": { - "x": 1.4999999999999996, - "y": 1.5 - } - }, - "time": 1.1064933785694948, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3190043061414333, - "pose": { - "rotation": { - "radians": -2.493845124623491 - }, - "translation": { - "x": 1.4468796880614505, - "y": 1.4606410435267858 - } - }, - "time": 1.172606123143511, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3644631920280974, - "pose": { - "rotation": { - "radians": -2.4727646530940817 - }, - "translation": { - "x": 1.3979923397239105, - "y": 1.4228515625 - } - }, - "time": 1.2343962332239258, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.4641994068544357, - "pose": { - "rotation": { - "radians": -2.426610188308126 - }, - "translation": { - "x": 1.3117877435582568, - "y": 1.3515625 - } - }, - "time": 1.3462593765384794, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.5623714732537684, - "pose": { - "rotation": { - "radians": -2.376121674237115 - }, - "translation": { - "x": 1.2391286309158336, - "y": 1.2852957589285714 - } - }, - "time": 1.4445987258459265, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6302381313589197, - "pose": { - "rotation": { - "radians": -2.3237592010084906 - }, - "translation": { - "x": 1.1777574212094364, - "y": 1.2232142857142856 - } - }, - "time": 1.5318943998354357, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6275740592678156, - "pose": { - "rotation": { - "radians": -2.273676363647106 - }, - "translation": { - "x": 1.1254165338518594, - "y": 1.1644810267857144 - } - }, - "time": 1.6105656410468794, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.5184108857125409, - "pose": { - "rotation": { - "radians": -2.231450857835951 - }, - "translation": { - "x": 1.0798483882558978, - "y": 1.1082589285714286 - } - }, - "time": 1.68293538763115, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.29618604794063763, - "pose": { - "rotation": { - "radians": -2.203006515292095 - }, - "translation": { - "x": 1.0387954038343463, - "y": 1.0537109375 - } - }, - "time": 1.751205665643216, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 3.8924307326238546e-15, - "pose": { - "rotation": { - "radians": -2.1929446786425015 - }, - "translation": { - "x": 1.0000000000000002, - "y": 1.0 - } - }, - "time": 1.817462349576227, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2961860479406326, - "pose": { - "rotation": { - "radians": -2.203006515292096 - }, - "translation": { - "x": 0.9612045961656538, - "y": 0.9462890625 - } - }, - "time": 1.883719033509238, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.5184108857125374, - "pose": { - "rotation": { - "radians": -2.2314508578359513 - }, - "translation": { - "x": 0.9201516117441024, - "y": 0.8917410714285714 - } - }, - "time": 1.951989311521304, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6275740592678127, - "pose": { - "rotation": { - "radians": -2.2736763636471062 - }, - "translation": { - "x": 0.8745834661481408, - "y": 0.8355189732142857 - } - }, - "time": 2.0243590581055746, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6302381313589182, - "pose": { - "rotation": { - "radians": -2.3237592010084906 - }, - "translation": { - "x": 0.8222425787905638, - "y": 0.7767857142857143 - } - }, - "time": 2.1030302993170182, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.5623714732537682, - "pose": { - "rotation": { - "radians": -2.3761216742371145 - }, - "translation": { - "x": 0.7608713690841664, - "y": 0.7147042410714286 - } - }, - "time": 2.1903259733065275, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.4641994068544356, - "pose": { - "rotation": { - "radians": -2.426610188308126 - }, - "translation": { - "x": 0.6882122564417434, - "y": 0.6484375 - } - }, - "time": 2.2886653226139746, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3644631920280975, - "pose": { - "rotation": { - "radians": -2.4727646530940817 - }, - "translation": { - "x": 0.6020076602760897, - "y": 0.5771484375 - } - }, - "time": 2.400528465928528, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.31900430614143327, - "pose": { - "rotation": { - "radians": -2.493845124623491 - }, - "translation": { - "x": 0.5531203119385497, - "y": 0.5393589564732143 - } - }, - "time": 2.462318576008943, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2776787285396064, - "pose": { - "rotation": { - "radians": -2.513530282240984 - }, - "translation": { - "x": 0.5000000000000001, - "y": 0.5 - } - }, - "time": 2.52843132058296, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.16149941110126012, - "pose": { - "rotation": { - "radians": -2.5286828834769617 - }, - "translation": { - "x": 0.44264672446044084, - "y": 0.45907156808035715 - } - }, - "time": 2.59889077526803, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.07962494904972045, - "pose": { - "rotation": { - "radians": -2.537406964100821 - }, - "translation": { - "x": 0.3821892756134746, - "y": 0.4169921875 - } - }, - "time": 2.6725506516669904, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.012741582075827595, - "pose": { - "rotation": { - "radians": -2.5408334253870968 - }, - "translation": { - "x": 0.32003864132610454, - "y": 0.3742850167410714 - } - }, - "time": 2.7479602251743023, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.05185978219205491, - "pose": { - "rotation": { - "radians": -2.539376314483957 - }, - "translation": { - "x": 0.25760580946533385, - "y": 0.3314732142857143 - } - }, - "time": 2.823661671155418, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.12595034511604572, - "pose": { - "rotation": { - "radians": -2.532861598964916 - }, - "translation": { - "x": 0.19630176789816578, - "y": 0.28907993861607145 - } - }, - "time": 2.898196061435821, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.22532033615872293, - "pose": { - "rotation": { - "radians": -2.5204739603382444 - }, - "translation": { - "x": 0.13753750449160335, - "y": 0.2476283482142857 - } - }, - "time": 2.970109015766409, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.37790122771354123, - "pose": { - "rotation": { - "radians": -2.500489992864539 - }, - "translation": { - "x": 0.08272400711264993, - "y": 0.2076416015625 - } - }, - "time": 3.0379578138597183, - "velocity": 1.0 - }, - { - "acceleration": -0.7808367222958574, - "curvature": 0.643100281423417, - "pose": { - "rotation": { - "radians": -2.469624398069973 - }, - "translation": { - "x": 0.03327226362830871, - "y": 0.16964285714285715 - } - }, - "time": 3.100322703911016, - "velocity": 1.0 - }, - { - "acceleration": -2.0000000000000013, - "curvature": 1.1682894119278024, - "pose": { - "rotation": { - "radians": -2.4214787747418027 - }, - "translation": { - "x": -0.009406738094417166, - "y": 0.1341552734375 - } - }, - "time": 3.1570862168452316, - "velocity": 0.9556769646144485 - }, - { - "acceleration": -1.9999999999999973, - "curvature": 2.3859297141582556, - "pose": { - "rotation": { - "radians": -2.3425427551974622 - }, - "translation": { - "x": -0.043902010188524576, - "y": 0.10170200892857145 - } - }, - "time": 3.209521554480146, - "velocity": 0.8508062893446202 - }, - { - "acceleration": -2.0, - "curvature": 3.6335580164415213, - "pose": { - "rotation": { - "radians": -2.2828580802251595 - }, - "translation": { - "x": -0.05763981391640782, - "y": 0.0867767333984375 - } - }, - "time": 3.2340723671528675, - "velocity": 0.8017046639991773 - }, - { - "acceleration": -2.0, - "curvature": 5.841092214253137, - "pose": { - "rotation": { - "radians": -2.200519405360358 - }, - "translation": { - "x": -0.06880256478701008, - "y": 0.07280622209821425 - } - }, - "time": 3.2570356450944873, - "velocity": 0.7557781081159377 - }, - { - "acceleration": -1.9999999999999925, - "curvature": 7.5722712875404525, - "pose": { - "rotation": { - "radians": -2.1471266820536137 - }, - "translation": { - "x": -0.07336317868727615, - "y": 0.06619943891252789 - } - }, - "time": 3.267811450649993, - "velocity": 0.7342264970049263 - }, - { - "acceleration": -1.999999999999996, - "curvature": 9.960064242378692, - "pose": { - "rotation": { - "radians": -2.082661298108728 - }, - "translation": { - "x": -0.07721388931695627, - "y": 0.05985586983816965 - } - }, - "time": 3.2780615616135376, - "velocity": 0.7137262750778367 - }, - { - "acceleration": -2.0, - "curvature": 13.261968099207715, - "pose": { - "rotation": { - "radians": -2.004145319849071 - }, - "translation": { - "x": -0.0803326499906285, - "y": 0.05378368922642296 - } - }, - "time": 3.287757559542795, - "velocity": 0.6943342792193219 - }, - { - "acceleration": -1.999999999999991, - "curvature": 15.349391948059386, - "pose": { - "rotation": { - "radians": -1.9584991400142493 - }, - "translation": { - "x": -0.08161065950476731, - "y": 0.05085192407880512 - } - }, - "time": 3.2923946835700995, - "velocity": 0.6850600311647128 - }, - { - "acceleration": -2.0000000000000093, - "curvature": 17.775613626621393, - "pose": { - "rotation": { - "radians": -1.9079248174526666 - }, - "translation": { - "x": -0.0826974140228709, - "y": 0.0479910714285714 - } - }, - "time": 3.2968914182980864, - "velocity": 0.6760665617087386 - }, - { - "acceleration": -2.0, - "curvature": 20.564297760595316, - "pose": { - "rotation": { - "radians": -1.8519014546201613 - }, - "translation": { - "x": -0.08359015770926148, - "y": 0.04520215306963238 - } - }, - "time": 3.3012509375882564, - "velocity": 0.6673475231283984 - }, - { - "acceleration": -2.00000000000001, - "curvature": 23.715608877026085, - "pose": { - "rotation": { - "radians": -1.7899311131774183 - }, - "translation": { - "x": -0.0842861347282613, - "y": 0.04248619079589844 - } - }, - "time": 3.3054790115582726, - "velocity": 0.6588913751883662 - }, - { - "acceleration": -2.0, - "curvature": 27.189129255565305, - "pose": { - "rotation": { - "radians": -1.7215918215799086 - }, - "translation": { - "x": -0.08478258924419291, - "y": 0.03984420640127995 - } - }, - "time": 3.3095845125651975, - "velocity": 0.6506803731745161 - }, - { - "acceleration": -2.0, - "curvature": 30.883290083634527, - "pose": { - "rotation": { - "radians": -1.6466125428161849 - }, - "translation": { - "x": -0.08507676542137821, - "y": 0.0372772216796875 - } - }, - "time": 3.3135799450469086, - "velocity": 0.6426895082110943 - }, - { - "acceleration": -1.9999999999999771, - "curvature": 34.61643207697983, - "pose": { - "rotation": { - "radians": -1.5649684441271745 - }, - "translation": { - "x": -0.08516590742413976, - "y": 0.03478625842503141 - } - }, - "time": 3.317481959084308, - "velocity": 0.634885480136296 - }, - { - "acceleration": -2.0, - "curvature": 36.41673084842612, - "pose": { - "rotation": { - "radians": -1.5217325782212103 - }, - "translation": { - "x": -0.08513272941146222, - "y": 0.033569604158401434 - } - }, - "time": 3.3194048318552505, - "velocity": 0.6310397345944112 - }, - { - "acceleration": -2.0, - "curvature": 38.11965972183798, - "pose": { - "rotation": { - "radians": -1.4769856740539578 - }, - "translation": { - "x": -0.08504725941679958, - "y": 0.03237233843122206 - } - }, - "time": 3.3213127190597223, - "velocity": 0.6272239601854677 - }, - { - "acceleration": -1.9999999999999765, - "curvature": 39.680953596251996, - "pose": { - "rotation": { - "radians": -1.4308383360767607 - }, - "translation": { - "x": -0.08490915296069201, - "y": 0.031194588967731973 - } - }, - "time": 3.323209035685624, - "velocity": 0.6234313269336637 - }, - { - "acceleration": -1.9999999999999762, - "curvature": 41.05512178928634, - "pose": { - "rotation": { - "radians": -1.3834320579244794 - }, - "translation": { - "x": -0.08471806556368011, - "y": 0.03003648349217003 - } - }, - "time": 3.325097504530002, - "velocity": 0.6196543892449078 - }, - { - "acceleration": -1.999999999999976, - "curvature": 42.19798317269199, - "pose": { - "rotation": { - "radians": -1.3349387553534076 - }, - "translation": { - "x": -0.0844736527463037, - "y": 0.028898149728775024 - } - }, - "time": 3.326982150396034, - "velocity": 0.6158850975128444 - }, - { - "acceleration": -2.0, - "curvature": 43.0695549065878, - "pose": { - "rotation": { - "radians": -1.2855587029566669 - }, - "translation": { - "x": -0.08417557002910336, - "y": 0.027779715401785754 - } - }, - "time": 3.3288672891522357, - "velocity": 0.6121148200004412 - }, - { - "acceleration": -2.000000000000024, - "curvature": 43.63700751994001, - "pose": { - "rotation": { - "radians": -1.2355167832596736 - }, - "translation": { - "x": -0.08382347293261927, - "y": 0.026681308235441015 - } - }, - "time": 3.3307575117143924, - "velocity": 0.6083343748761276 - }, - { - "acceleration": -2.0, - "curvature": 43.877330084679706, - "pose": { - "rotation": { - "radians": -1.1850571236540008 - }, - "translation": { - "x": -0.0834170169773919, - "y": 0.025603055953979437 - } - }, - "time": 3.332657663350649, - "velocity": 0.604534071603615 - }, - { - "acceleration": -2.0, - "curvature": 43.77933999343348, - "pose": { - "rotation": { - "radians": -1.1344363808123417 - }, - "translation": { - "x": -0.08295585768396119, - "y": 0.02454508628164015 - } - }, - "time": 3.3345728190638066, - "velocity": 0.6007037601772995 - }, - { - "acceleration": -2.000000000000024, - "curvature": 43.34473637514813, - "pose": { - "rotation": { - "radians": -1.083916102572679 - }, - "translation": { - "x": -0.0824396505728675, - "y": 0.023507526942661783 - } - }, - "time": 3.3365082561315424, - "velocity": 0.5968328860418279 - }, - { - "acceleration": -1.9999999999999765, - "curvature": 42.588028498451074, - "pose": { - "rotation": { - "radians": -1.0337547208598437 - }, - "translation": { - "x": -0.08186805116465157, - "y": 0.02249050566128319 - } - }, - "time": 3.3384694251434603, - "velocity": 0.5929105480179918 - }, - { - "acceleration": -2.000000000000023, - "curvature": 41.53534355364406, - "pose": { - "rotation": { - "radians": -0.9841997802056115 - }, - "translation": { - "x": -0.08124071497985308, - "y": 0.021494150161743164 - } - }, - "time": 3.34046192102962, - "velocity": 0.5889255562456722 - }, - { - "acceleration": -2.000000000000023, - "curvature": 40.22229122406194, - "pose": { - "rotation": { - "radians": -0.935480973766528 - }, - "translation": { - "x": -0.08055729753901275, - "y": 0.020518588168280505 - } - }, - "time": 3.3424914556093235, - "velocity": 0.5848664870862655 - }, - { - "acceleration": -1.9999999999999774, - "curvature": 38.69119447654324, - "pose": { - "rotation": { - "radians": -0.887804449537211 - }, - "translation": { - "x": -0.07981745436267063, - "y": 0.019563947405134008 - } - }, - "time": 3.3445638331015197, - "velocity": 0.5807217321018726 - }, - { - "acceleration": -1.9999999999999778, - "curvature": 36.98805943666322, - "pose": { - "rotation": { - "radians": -0.8413486868007395 - }, - "translation": { - "x": -0.07902084097136686, - "y": 0.018630355596542303 - } - }, - "time": 3.3466849298480974, - "velocity": 0.5764795386087174 - }, - { - "acceleration": -1.9999999999999891, - "curvature": 35.15964570660894, - "pose": { - "rotation": { - "radians": -0.7962620588663976 - }, - "translation": { - "x": -0.07816711288564204, - "y": 0.01771794046674452 - } - }, - "time": 3.348860679241734, - "velocity": 0.5721280398214441 - }, - { - "acceleration": -2.00000000000001, - "curvature": 31.303118282225007, - "pose": { - "rotation": { - "radians": -0.7106357578709402 - }, - "translation": { - "x": -0.07628693471309012, - "y": 0.01595715114048546 - } - }, - "time": 3.3533990574136796, - "velocity": 0.5630512834775531 - }, - { - "acceleration": -1.9999999999999902, - "curvature": 27.428995177461147, - "pose": { - "rotation": { - "radians": -0.6315132855442873 - }, - "translation": { - "x": -0.07417416400933685, - "y": 0.0142826012202672 - } - }, - "time": 3.3582285130328335, - "velocity": 0.5533923722392453 - }, - { - "acceleration": -2.0, - "curvature": 23.75624189265796, - "pose": { - "rotation": { - "radians": -0.5590722011057767 - }, - "translation": { - "x": -0.07182604493870459, - "y": 0.012695312499999944 - } - }, - "time": 3.363398460204786, - "velocity": 0.5430524778953406 - }, - { - "acceleration": -1.9999999999999911, - "curvature": 20.414249721574574, - "pose": { - "rotation": { - "radians": -0.4931797061696271 - }, - "translation": { - "x": -0.06923982166551546, - "y": 0.0111963067735944 - } - }, - "time": 3.36895993414091, - "velocity": 0.5319295300230922 - }, - { - "acceleration": -1.9999999999999918, - "curvature": 17.459934497401907, - "pose": { - "rotation": { - "radians": -0.4334957798412308 - }, - "translation": { - "x": -0.06641273835409178, - "y": 0.009786605834960938 - } - }, - "time": 3.374966631861679, - "velocity": 0.5199161345815548 - }, - { - "acceleration": -2.0, - "curvature": 14.9001811661835, - "pose": { - "rotation": { - "radians": -0.3795612382681966 - }, - "translation": { - "x": -0.0633420391687558, - "y": 0.008467231478009984 - } - }, - "time": 3.381476380148027, - "velocity": 0.5068966380088588 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 12.711979997378924, - "pose": { - "rotation": { - "radians": -0.33086402033744416 - }, - "translation": { - "x": -0.06002496827382975, - "y": 0.007239205496651802 - } - }, - "time": 3.388553109477197, - "velocity": 0.4927431793505188 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 9.293401276465811, - "pose": { - "rotation": { - "radians": -0.2471227409523188 - }, - "translation": { - "x": -0.052640688012496994, - "y": 0.005061285836356011 - } - }, - "time": 3.4047069789966478, - "velocity": 0.46043544031161765 - }, - { - "acceleration": -2.0000000000000013, - "curvature": 6.87086543118763, - "pose": { - "rotation": { - "radians": -0.17844137117241632 - }, - "translation": { - "x": -0.04423785088467114, - "y": 0.0032610212053570953 - } - }, - "time": 3.424195782221518, - "velocity": 0.42145783386187696 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 5.153442078046409, - "pose": { - "rotation": { - "radians": -0.1216295798723478 - }, - "translation": { - "x": -0.03479441020493046, - "y": 0.0018465859549386399 - } - }, - "time": 3.4482220037806184, - "velocity": 0.37340539074367585 - }, - { - "acceleration": -1.9999999999999998, - "curvature": 3.9250768863984966, - "pose": { - "rotation": { - "radians": -0.07417082549076627 - }, - "translation": { - "x": -0.02428831928785291, - "y": 0.0008261544363838969 - } - }, - "time": 3.479032538249631, - "velocity": 0.31178432180564974 - }, - { - "acceleration": -1.9999999999999998, - "curvature": 2.3809523809523805, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 0.0, - "y": 0.0 - } - }, - "time": 3.634924699152456, - "velocity": 0.0 - } - ] -} \ No newline at end of file diff --git a/autonomous/routines/routine_1/trajectory_1.json b/autonomous/routines/routine_1/trajectory_1.json deleted file mode 100644 index 7c74cea..0000000 --- a/autonomous/routines/routine_1/trajectory_1.json +++ /dev/null @@ -1,857 +0,0 @@ -[ - { - "acceleration":2.0000000000000004, - "curvature":2.3809523809523814, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":0.0, - "y":0.0 - } - }, - "time":0.0, - "velocity":0.0 - }, - { - "acceleration":2.000000000000001, - "curvature":2.595325966847042, - "pose":{ - "rotation":{ - "radians":0.06460283167616494 - }, - "translation":{ - "x":0.025940628160620836, - "y":0.0008261544363839286 - } - }, - "time":0.1611017705266734, - "velocity":0.32220354105334686 - }, - { - "acceleration":1.999999999999999, - "curvature":2.787492742305355, - "pose":{ - "rotation":{ - "radians":0.13177918578963022 - }, - "translation":{ - "x":0.05075989329538541, - "y":0.003261021205357143 - } - }, - "time":0.22559298431162372, - "velocity":0.45118596862324756 - }, - { - "acceleration":2.0, - "curvature":2.9449252494021136, - "pose":{ - "rotation":{ - "radians":0.20086675304867105 - }, - "translation":{ - "x":0.07450337926713341, - "y":0.007239205496651787 - } - }, - "time":0.27380037105598976, - "velocity":0.5476007421119795 - }, - { - "acceleration":2.0000000000000013, - "curvature":3.0563610293310313, - "pose":{ - "rotation":{ - "radians":0.271067404114427 - }, - "translation":{ - "x":0.09721666993870451, - "y":0.0126953125 - } - }, - "time":0.3135698756503563, - "velocity":0.6271397513007126 - }, - { - "acceleration":2.0000000000000013, - "curvature":3.1135922042633504, - "pose":{ - "rotation":{ - "radians":0.34148963883778916 - }, - "translation":{ - "x":0.11894534917293839, - "y":0.01956394740513393 - } - }, - "time":0.34801511627663584, - "velocity":0.6960302325532717 - }, - { - "acceleration":2.0, - "curvature":3.112845373687687, - "pose":{ - "rotation":{ - "radians":0.4112057410202867 - }, - "translation":{ - "x":0.13973500083267476, - "y":0.02777971540178572 - } - }, - "time":0.3787725979355451, - "velocity":0.7575451958710901 - }, - { - "acceleration":2.0, - "curvature":3.055332259900253, - "pose":{ - "rotation":{ - "radians":0.4793147718377678 - }, - "translation":{ - "x":0.15963120878075332, - "y":0.0372772216796875 - } - }, - "time":0.4068359476982932, - "velocity":0.8136718953965864 - }, - { - "acceleration":2.0, - "curvature":2.9468175976334776, - "pose":{ - "rotation":{ - "radians":0.5450007702314661 - }, - "translation":{ - "x":0.1786795568800137, - "y":0.04799107142857143 - } - }, - "time":0.43286273556068766, - "velocity":0.8657254711213753 - }, - { - "acceleration":2.0000000000000027, - "curvature":2.796384020129445, - "pose":{ - "rotation":{ - "radians":0.6075769725261475 - }, - "translation":{ - "x":0.19692562899329563, - "y":0.059855869838169644 - } - }, - "time":0.45731239630972664, - "velocity":0.9146247926194533 - }, - { - "acceleration":1.749932129781575, - "curvature":2.6148056057208007, - "pose":{ - "rotation":{ - "radians":0.666510847769103 - }, - "translation":{ - "x":0.21441500898343874, - "y":0.07280622209821429 - } - }, - "time":0.48051717108354774, - "velocity":0.9610343421670956 - }, - { - "acceleration":0.0, - "curvature":2.4129782382963043, - "pose":{ - "rotation":{ - "radians":0.7214295479787702 - }, - "translation":{ - "x":0.23119328071328277, - "y":0.0867767333984375 - } - }, - "time":0.5027841248526451, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":2.2007240886301007, - "pose":{ - "rotation":{ - "radians":0.7721092401780296 - }, - "translation":{ - "x":0.24730602804566743, - "y":0.10170200892857144 - } - }, - "time":0.524747377713906, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.9860923592042752, - "pose":{ - "rotation":{ - "radians":0.8184537703343066 - }, - "translation":{ - "x":0.26279883484343236, - "y":0.11751665387834821 - } - }, - "time":0.5468862588365004, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.7751158042945765, - "pose":{ - "rotation":{ - "radians":0.8604682380066073 - }, - "translation":{ - "x":0.2777172849694172, - "y":0.1341552734375 - } - }, - "time":0.5692336035332577, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.378877735802265, - "pose":{ - "rotation":{ - "radians":0.9318738882940065 - }, - "translation":{ - "x":0.3060134506574056, - "y":0.16964285714285715 - } - }, - "time":0.6146212845699313, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.0269790123916365, - "pose":{ - "rotation":{ - "radians":0.9874352146007722 - }, - "translation":{ - "x":0.33255919601235007, - "y":0.2076416015625 - } - }, - "time":0.6609740749273509, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.7184011472705635, - "pose":{ - "rotation":{ - "radians":1.028489463266511 - }, - "translation":{ - "x":0.357719191936968, - "y":0.24762834821428573 - } - }, - "time":0.7082177549567569, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.1930851987713053, - "pose":{ - "rotation":{ - "radians":1.0716201459130537 - }, - "translation":{ - "x":0.40534061910609465, - "y":0.3314732142857143 - } - }, - "time":0.8046426578198671, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2916630807647434, - "pose":{ - "rotation":{ - "radians":1.0669149846908788 - }, - "translation":{ - "x":0.4517950993865254, - "y":0.41699218749999994 - } - }, - "time":0.9019643589853864, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.837092751266262, - "pose":{ - "rotation":{ - "radians":1.0137255642722038 - }, - "translation":{ - "x":0.5, - "y":0.5 - } - }, - "time":0.9979539906087557, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.800067132725784, - "pose":{ - "rotation":{ - "radians":0.9371365584178165 - }, - "translation":{ - "x":0.5522892147239105, - "y":0.5771484375 - } - }, - "time":1.0911529358020067, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.7305970666123351, - "pose":{ - "rotation":{ - "radians":0.8673303065438499 - }, - "translation":{ - "x":0.6086627435582567, - "y":0.6484375 - } - }, - "time":1.1820380566159538, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.6353268212231772, - "pose":{ - "rotation":{ - "radians":0.8061523795916493 - }, - "translation":{ - "x":0.6685371130586908, - "y":0.7147042410714286 - } - }, - "time":1.2713477486728761, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.521996158571609, - "pose":{ - "rotation":{ - "radians":0.7549381802864602 - }, - "translation":{ - "x":0.7313288497808648, - "y":0.7767857142857143 - } - }, - "time":1.3596478705133521, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.3975528759100238, - "pose":{ - "rotation":{ - "radians":0.7145498145006239 - }, - "translation":{ - "x":0.7964544802804306, - "y":0.8355189732142857 - } - }, - "time":1.4473458947347484, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2671592856148399, - "pose":{ - "rotation":{ - "radians":0.6854795494256645 - }, - "translation":{ - "x":0.8633305311130404, - "y":0.8917410714285714 - } - }, - "time":1.5347148280153062, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.13405818704189948, - "pose":{ - "rotation":{ - "radians":0.6679716319317236 - }, - "translation":{ - "x":0.9313735288343461, - "y":0.9462890625 - } - }, - "time":1.6219233876228945, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.0, - "pose":{ - "rotation":{ - "radians":0.6621270389708964 - }, - "translation":{ - "x":0.9999999999999999, - "y":1.0 - } - }, - "time":1.7090695714279196, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.13405818704189962, - "pose":{ - "rotation":{ - "radians":0.6679716319317235 - }, - "translation":{ - "x":1.0686264711656537, - "y":1.0537109375 - } - }, - "time":1.7962157552329447, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.2671592856148402, - "pose":{ - "rotation":{ - "radians":0.6854795494256642 - }, - "translation":{ - "x":1.1366694688869594, - "y":1.1082589285714286 - } - }, - "time":1.883424314840533, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.3975528759100245, - "pose":{ - "rotation":{ - "radians":0.7145498145006239 - }, - "translation":{ - "x":1.2035455197195692, - "y":1.1644810267857144 - } - }, - "time":1.970793248121091, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.52199615857161, - "pose":{ - "rotation":{ - "radians":0.7549381802864603 - }, - "translation":{ - "x":1.2686711502191352, - "y":1.2232142857142858 - } - }, - "time":2.0584912723424873, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.6353268212231779, - "pose":{ - "rotation":{ - "radians":0.8061523795916495 - }, - "translation":{ - "x":1.3314628869413092, - "y":1.2852957589285716 - } - }, - "time":2.146791394182963, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.7305970666123357, - "pose":{ - "rotation":{ - "radians":0.8673303065438502 - }, - "translation":{ - "x":1.3913372564417432, - "y":1.3515625 - } - }, - "time":2.236101086239885, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.8000671327257849, - "pose":{ - "rotation":{ - "radians":0.937136558417817 - }, - "translation":{ - "x":1.4477107852760895, - "y":1.4228515625 - } - }, - "time":2.3269862070538325, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.8370927512662617, - "pose":{ - "rotation":{ - "radians":1.0137255642722043 - }, - "translation":{ - "x":1.5, - "y":1.5000000000000002 - } - }, - "time":2.420185152247084, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.2916630807647438, - "pose":{ - "rotation":{ - "radians":1.0669149846908788 - }, - "translation":{ - "x":1.5482049006134746, - "y":1.5830078125 - } - }, - "time":2.516174783870453, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.1930851987713047, - "pose":{ - "rotation":{ - "radians":1.0716201459130534 - }, - "translation":{ - "x":1.5946593808939054, - "y":1.6685267857142856 - } - }, - "time":2.6134964850359723, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.7184011472705635, - "pose":{ - "rotation":{ - "radians":1.028489463266511 - }, - "translation":{ - "x":1.642280808063032, - "y":1.7523716517857144 - } - }, - "time":2.7099213878990827, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.0269790123916358, - "pose":{ - "rotation":{ - "radians":0.9874352146007725 - }, - "translation":{ - "x":1.6674408039876498, - "y":1.7923583984375 - } - }, - "time":2.7571650679284883, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.378877735802265, - "pose":{ - "rotation":{ - "radians":0.9318738882940066 - }, - "translation":{ - "x":1.6939865493425943, - "y":1.8303571428571428 - } - }, - "time":2.803517858285908, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.7751158042945763, - "pose":{ - "rotation":{ - "radians":0.8604682380066074 - }, - "translation":{ - "x":1.7222827150305826, - "y":1.8658447265625 - } - }, - "time":2.8489055393225815, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.9860923592042752, - "pose":{ - "rotation":{ - "radians":0.8184537703343068 - }, - "translation":{ - "x":1.7372011651565675, - "y":1.882483346121652 - } - }, - "time":2.8712528840193388, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-2.2007240886301, - "pose":{ - "rotation":{ - "radians":0.7721092401780295 - }, - "translation":{ - "x":1.7526939719543324, - "y":1.8982979910714286 - } - }, - "time":2.893391765141933, - "velocity":1.0 - }, - { - "acceleration":-1.7499321297815522, - "curvature":-2.4129782382963048, - "pose":{ - "rotation":{ - "radians":0.7214295479787705 - }, - "translation":{ - "x":1.7688067192867172, - "y":1.9132232666015625 - } - }, - "time":2.915355018003194, - "velocity":1.0 - }, - { - "acceleration":-2.0000000000000027, - "curvature":-2.6148056057208007, - "pose":{ - "rotation":{ - "radians":0.6665108477691031 - }, - "translation":{ - "x":1.7855849910165613, - "y":1.9271937779017858 - } - }, - "time":2.9376219717722916, - "velocity":0.9610343421670957 - }, - { - "acceleration":-2.0, - "curvature":-2.796384020129447, - "pose":{ - "rotation":{ - "radians":0.6075769725261476 - }, - "translation":{ - "x":1.8030743710067043, - "y":1.9401441301618303 - } - }, - "time":2.9608267465461124, - "velocity":0.9146247926194542 - }, - { - "acceleration":-2.0, - "curvature":-2.946817597633479, - "pose":{ - "rotation":{ - "radians":0.5450007702314662 - }, - "translation":{ - "x":1.821320443119986, - "y":1.9520089285714286 - } - }, - "time":2.985276407295151, - "velocity":0.8657254711213762 - }, - { - "acceleration":-2.0000000000000027, - "curvature":-3.055332259900255, - "pose":{ - "rotation":{ - "radians":0.479314771837768 - }, - "translation":{ - "x":1.8403687912192466, - "y":1.9627227783203125 - } - }, - "time":3.011303195157546, - "velocity":0.8136718953965866 - }, - { - "acceleration":-2.0, - "curvature":-3.1128453736876884, - "pose":{ - "rotation":{ - "radians":0.41120574102028656 - }, - "translation":{ - "x":1.8602649991673252, - "y":1.9722202845982142 - } - }, - "time":3.0393665449202945, - "velocity":0.7575451958710898 - }, - { - "acceleration":-2.0000000000000013, - "curvature":-3.1135922042633504, - "pose":{ - "rotation":{ - "radians":0.34148963883778904 - }, - "translation":{ - "x":1.8810546508270616, - "y":1.9804360525948659 - } - }, - "time":3.070124026579204, - "velocity":0.696030232553271 - }, - { - "acceleration":-1.999999999999999, - "curvature":-3.056361029331032, - "pose":{ - "rotation":{ - "radians":0.27106740411442715 - }, - "translation":{ - "x":1.9027833300612955, - "y":1.9873046875 - } - }, - "time":3.1045692672054837, - "velocity":0.6271397513007115 - }, - { - "acceleration":-2.0, - "curvature":-2.9449252494021136, - "pose":{ - "rotation":{ - "radians":0.20086675304867097 - }, - "translation":{ - "x":1.9254966207328665, - "y":1.992760794503348 - } - }, - "time":3.1443387717998506, - "velocity":0.547600742111978 - }, - { - "acceleration":-1.9999999999999998, - "curvature":-2.7874927423053566, - "pose":{ - "rotation":{ - "radians":0.13177918578963033 - }, - "translation":{ - "x":1.9492401067046146, - "y":1.9967389787946428 - } - }, - "time":3.1925461585442165, - "velocity":0.45118596862324617 - }, - { - "acceleration":-2.0000000000000004, - "curvature":-2.595325966847042, - "pose":{ - "rotation":{ - "radians":0.06460283167616503 - }, - "translation":{ - "x":1.974059371839379, - "y":1.999173845563616 - } - }, - "time":3.2570373723291666, - "velocity":0.3222035410533462 - }, - { - "acceleration":-2.0000000000000004, - "curvature":-2.380952380952382, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":2.0, - "y":2.0 - } - }, - "time":3.4181391428558396, - "velocity":0.0 - } - ] \ No newline at end of file diff --git a/autonomous/routines/routine_1/trajectory_2.json b/autonomous/routines/routine_1/trajectory_2.json deleted file mode 100644 index 6f93e84..0000000 --- a/autonomous/routines/routine_1/trajectory_2.json +++ /dev/null @@ -1,1787 +0,0 @@ -[ - { - "acceleration":2.0, - "curvature":-2.3809523809523814, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":2.0, - "y":2.0 - } - }, - "time":0.0, - "velocity":0.0 - }, - { - "acceleration":2.0, - "curvature":-3.925076886398501, - "pose":{ - "rotation":{ - "radians":-0.07417082549076623 - }, - "translation":{ - "x":2.024288319287853, - "y":1.999173845563616 - } - }, - "time":0.1558921609028255, - "velocity":0.311784321805651 - }, - { - "acceleration":2.0, - "curvature":-5.153442078046409, - "pose":{ - "rotation":{ - "radians":-0.1216295798723478 - }, - "translation":{ - "x":2.0347944102049302, - "y":1.9981534140450614 - } - }, - "time":0.1867026953718375, - "velocity":0.373405390743675 - }, - { - "acceleration":2.0, - "curvature":-6.870865431187638, - "pose":{ - "rotation":{ - "radians":-0.17844137117241632 - }, - "translation":{ - "x":2.044237850884671, - "y":1.9967389787946428 - } - }, - "time":0.210728916930938, - "velocity":0.421457833861876 - }, - { - "acceleration":2.0, - "curvature":-9.293401276465815, - "pose":{ - "rotation":{ - "radians":-0.24712274095231881 - }, - "translation":{ - "x":2.052640688012497, - "y":1.9949387141636439 - } - }, - "time":0.23021772015580907, - "velocity":0.46043544031161815 - }, - { - "acceleration":2.0, - "curvature":-12.711979997378936, - "pose":{ - "rotation":{ - "radians":-0.33086402033744444 - }, - "translation":{ - "x":2.06002496827383, - "y":1.9927607945033483 - } - }, - "time":0.24637158967525977, - "velocity":0.49274317935051953 - }, - { - "acceleration":1.9999999999999918, - "curvature":-14.900181166183526, - "pose":{ - "rotation":{ - "radians":-0.379561238268197 - }, - "translation":{ - "x":2.063342039168756, - "y":1.9915327685219901 - } - }, - "time":0.25344831900442966, - "velocity":0.5068966380088593 - }, - { - "acceleration":2.0, - "curvature":-17.459934497401925, - "pose":{ - "rotation":{ - "radians":-0.4334957798412309 - }, - "translation":{ - "x":2.066412738354092, - "y":1.990213394165039 - } - }, - "time":0.25995806729077736, - "velocity":0.5199161345815547 - }, - { - "acceleration":1.9999999999999907, - "curvature":-20.414249721574603, - "pose":{ - "rotation":{ - "radians":-0.49317970616962725 - }, - "translation":{ - "x":2.0692398216655152, - "y":1.9888036932264055 - } - }, - "time":0.26596476501154587, - "velocity":0.5319295300230917 - }, - { - "acceleration":2.0, - "curvature":-23.75624189265799, - "pose":{ - "rotation":{ - "radians":-0.5590722011057766 - }, - "translation":{ - "x":2.0718260449387045, - "y":1.9873046875 - } - }, - "time":0.27152623894767053, - "velocity":0.5430524778953411 - }, - { - "acceleration":1.9999999999999898, - "curvature":-27.428995177461175, - "pose":{ - "rotation":{ - "radians":-0.6315132855442878 - }, - "translation":{ - "x":2.074174164009337, - "y":1.9857173987797327 - } - }, - "time":0.2766961861196231, - "velocity":0.5533923722392462 - }, - { - "acceleration":2.0, - "curvature":-31.303118282225075, - "pose":{ - "rotation":{ - "radians":-0.7106357578709409 - }, - "translation":{ - "x":2.07628693471309, - "y":1.9840428488595145 - } - }, - "time":0.2815256417387766, - "velocity":0.5630512834775532 - }, - { - "acceleration":2.000000000000022, - "curvature":-35.159645706609, - "pose":{ - "rotation":{ - "radians":-0.7962620588663979 - }, - "translation":{ - "x":2.0781671128856423, - "y":1.9822820595332555 - } - }, - "time":0.2860640199107224, - "velocity":0.5721280398214448 - }, - { - "acceleration":2.0, - "curvature":-36.988059436663285, - "pose":{ - "rotation":{ - "radians":-0.8413486868007399 - }, - "translation":{ - "x":2.079020840971367, - "y":1.9813696444034576 - } - }, - "time":0.2882397693043589, - "velocity":0.5764795386087178 - }, - { - "acceleration":1.9999999999999771, - "curvature":-38.6911944765433, - "pose":{ - "rotation":{ - "radians":-0.8878044495372119 - }, - "translation":{ - "x":2.0798174543626704, - "y":1.980436052594866 - } - }, - "time":0.2903608660509362, - "velocity":0.5807217321018724 - }, - { - "acceleration":2.000000000000023, - "curvature":-40.22229122406195, - "pose":{ - "rotation":{ - "radians":-0.9354809737665283 - }, - "translation":{ - "x":2.0805572975390128, - "y":1.9794814118317194 - } - }, - "time":0.2924332435431329, - "velocity":0.5848664870862658 - }, - { - "acceleration":1.9999999999999765, - "curvature":-41.535343553644125, - "pose":{ - "rotation":{ - "radians":-0.9841997802056122 - }, - "translation":{ - "x":2.0812407149798533, - "y":1.9785058498382568 - } - }, - "time":0.2944627781228363, - "velocity":0.5889255562456726 - }, - { - "acceleration":2.000000000000024, - "curvature":-42.588028498451095, - "pose":{ - "rotation":{ - "radians":-1.033754720859844 - }, - "translation":{ - "x":2.0818680511646517, - "y":1.9775094943387168 - } - }, - "time":0.29645527400899585, - "velocity":0.5929105480179917 - }, - { - "acceleration":2.0, - "curvature":-43.344736375148244, - "pose":{ - "rotation":{ - "radians":-1.0839161025726805 - }, - "translation":{ - "x":2.0824396505728675, - "y":1.976492473057338 - } - }, - "time":0.29841644302091386, - "velocity":0.5968328860418277 - }, - { - "acceleration":2.000000000000024, - "curvature":-43.77933999343355, - "pose":{ - "rotation":{ - "radians":-1.1344363808123423 - }, - "translation":{ - "x":2.0829558576839613, - "y":1.97545491371836 - } - }, - "time":0.30035188008864977, - "velocity":0.6007037601772995 - }, - { - "acceleration":1.999999999999976, - "curvature":-43.87733008467971, - "pose":{ - "rotation":{ - "radians":-1.1850571236540004 - }, - "translation":{ - "x":2.083417016977392, - "y":1.9743969440460205 - } - }, - "time":0.3022670358018074, - "velocity":0.6045340716036148 - }, - { - "acceleration":1.999999999999976, - "curvature":-43.637007519940035, - "pose":{ - "rotation":{ - "radians":-1.2355167832596747 - }, - "translation":{ - "x":2.0838234729326195, - "y":1.973318691764559 - } - }, - "time":0.30416718743806354, - "velocity":0.6083343748761271 - }, - { - "acceleration":2.0, - "curvature":-43.06955490658779, - "pose":{ - "rotation":{ - "radians":-1.2855587029566673 - }, - "translation":{ - "x":2.084175570029103, - "y":1.9722202845982142 - } - }, - "time":0.3060574100002201, - "velocity":0.6121148200004402 - }, - { - "acceleration":2.0, - "curvature":-42.197983172692034, - "pose":{ - "rotation":{ - "radians":-1.334938755353409 - }, - "translation":{ - "x":2.0844736527463037, - "y":1.971101850271225 - } - }, - "time":0.3079425487564216, - "velocity":0.6158850975128431 - }, - { - "acceleration":2.0, - "curvature":-41.0551217892863, - "pose":{ - "rotation":{ - "radians":-1.3834320579244797 - }, - "translation":{ - "x":2.08471806556368, - "y":1.96996351650783 - } - }, - "time":0.3098271946224532, - "velocity":0.6196543892449063 - }, - { - "acceleration":1.9999999999999767, - "curvature":-39.680953596252024, - "pose":{ - "rotation":{ - "radians":-1.4308383360767614 - }, - "translation":{ - "x":2.0849091529606922, - "y":1.968805411032268 - } - }, - "time":0.3117156634668311, - "velocity":0.6234313269336622 - }, - { - "acceleration":2.000000000000023, - "curvature":-38.11965972183801, - "pose":{ - "rotation":{ - "radians":-1.4769856740539584 - }, - "translation":{ - "x":2.0850472594167995, - "y":1.967627661568778 - } - }, - "time":0.31361198009273245, - "velocity":0.6272239601854649 - }, - { - "acceleration":2.0, - "curvature":-36.41673084842611, - "pose":{ - "rotation":{ - "radians":-1.5217325782212117 - }, - "translation":{ - "x":2.085132729411462, - "y":1.9664303958415985 - } - }, - "time":0.3155198672972044, - "velocity":0.6310397345944088 - }, - { - "acceleration":1.999999999999989, - "curvature":-34.61643207697982, - "pose":{ - "rotation":{ - "radians":-1.5649684441271747 - }, - "translation":{ - "x":2.0851659074241398, - "y":1.9652137415749686 - } - }, - "time":0.31744274006814643, - "velocity":0.6348854801362929 - }, - { - "acceleration":1.9999999999999893, - "curvature":-30.8832900836345, - "pose":{ - "rotation":{ - "radians":-1.646612542816186 - }, - "translation":{ - "x":2.085076765421378, - "y":1.9627227783203125 - } - }, - "time":0.3213447541055456, - "velocity":0.6426895082110912 - }, - { - "acceleration":2.0, - "curvature":-27.189129255565312, - "pose":{ - "rotation":{ - "radians":-1.721591821579909 - }, - "translation":{ - "x":2.084782589244193, - "y":1.96015579359872 - } - }, - "time":0.32534018658725694, - "velocity":0.6506803731745139 - }, - { - "acceleration":1.99999999999999, - "curvature":-23.715608877026064, - "pose":{ - "rotation":{ - "radians":-1.7899311131774194 - }, - "translation":{ - "x":2.0842861347282615, - "y":1.9575138092041016 - } - }, - "time":0.32944568759418175, - "velocity":0.6588913751883635 - }, - { - "acceleration":1.9999999999999905, - "curvature":-20.564297760595313, - "pose":{ - "rotation":{ - "radians":-1.8519014546201618 - }, - "translation":{ - "x":2.0835901577092613, - "y":1.9547978469303675 - } - }, - "time":0.33367376156419803, - "velocity":0.6673475231283961 - }, - { - "acceleration":2.000000000000009, - "curvature":-17.77561362662137, - "pose":{ - "rotation":{ - "radians":-1.9079248174526673 - }, - "translation":{ - "x":2.0826974140228707, - "y":1.9520089285714286 - } - }, - "time":0.33803328085436823, - "velocity":0.6760665617087365 - }, - { - "acceleration":1.9999999999999913, - "curvature":-15.34939194805936, - "pose":{ - "rotation":{ - "radians":-1.9584991400142502 - }, - "translation":{ - "x":2.081610659504767, - "y":1.949148075921195 - } - }, - "time":0.3425300155823549, - "velocity":0.6850600311647098 - }, - { - "acceleration":2.000000000000004, - "curvature":-13.261968099207705, - "pose":{ - "rotation":{ - "radians":-2.0041453198490715 - }, - "translation":{ - "x":2.0803326499906283, - "y":1.946216310773577 - } - }, - "time":0.3471671396096597, - "velocity":0.6943342792193195 - }, - { - "acceleration":2.0, - "curvature":-9.960064242378673, - "pose":{ - "rotation":{ - "radians":-2.0826612981087287 - }, - "translation":{ - "x":2.0772138893169565, - "y":1.9401441301618303 - } - }, - "time":0.35686313753891696, - "velocity":0.7137262750778339 - }, - { - "acceleration":2.0, - "curvature":-7.572271287540442, - "pose":{ - "rotation":{ - "radians":-2.1471266820536146 - }, - "translation":{ - "x":2.073363178687276, - "y":1.933800561087472 - } - }, - "time":0.36711324850246235, - "velocity":0.7342264970049247 - }, - { - "acceleration":2.0, - "curvature":-5.841092214253132, - "pose":{ - "rotation":{ - "radians":-2.2005194053603585 - }, - "translation":{ - "x":2.0688025647870103, - "y":1.9271937779017858 - } - }, - "time":0.3778890540579677, - "velocity":0.7557781081159354 - }, - { - "acceleration":2.0, - "curvature":-3.6335580164415155, - "pose":{ - "rotation":{ - "radians":-2.2828580802251603 - }, - "translation":{ - "x":2.0576398139164076, - "y":1.9132232666015625 - } - }, - "time":0.4008523319995877, - "velocity":0.8017046639991754 - }, - { - "acceleration":1.999999999999999, - "curvature":-2.3859297141582525, - "pose":{ - "rotation":{ - "radians":-2.3425427551974622 - }, - "translation":{ - "x":2.0439020101885244, - "y":1.8982979910714286 - } - }, - "time":0.4254031446723092, - "velocity":0.8508062893446184 - }, - { - "acceleration":0.7808367222958948, - "curvature":-1.168289411927801, - "pose":{ - "rotation":{ - "radians":-2.421478774741803 - }, - "translation":{ - "x":2.009406738094417, - "y":1.8658447265625 - } - }, - "time":0.47783848230722326, - "velocity":0.9556769646144465 - }, - { - "acceleration":0.0, - "curvature":-0.6431002814234164, - "pose":{ - "rotation":{ - "radians":-2.4696243980699735 - }, - "translation":{ - "x":1.9667277363716913, - "y":1.8303571428571428 - } - }, - "time":0.5346019952414388, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.3779012277135409, - "pose":{ - "rotation":{ - "radians":-2.5004899928645394 - }, - "translation":{ - "x":1.91727599288735, - "y":1.7923583984375 - } - }, - "time":0.5969668852927363, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.22532033615872268, - "pose":{ - "rotation":{ - "radians":-2.520473960338245 - }, - "translation":{ - "x":1.8624624955083964, - "y":1.7523716517857142 - } - }, - "time":0.6648156833860457, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.1259503451160458, - "pose":{ - "rotation":{ - "radians":-2.5328615989649164 - }, - "translation":{ - "x":1.803698232101834, - "y":1.7109200613839286 - } - }, - "time":0.7367286377166338, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.05185978219205503, - "pose":{ - "rotation":{ - "radians":-2.539376314483957 - }, - "translation":{ - "x":1.7423941905346658, - "y":1.6685267857142856 - } - }, - "time":0.8112630279970368, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.012741582075827209, - "pose":{ - "rotation":{ - "radians":-2.5408334253870972 - }, - "translation":{ - "x":1.679961358673895, - "y":1.6257149832589286 - } - }, - "time":0.8869644739781525, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.07962494904972009, - "pose":{ - "rotation":{ - "radians":-2.5374069641008212 - }, - "translation":{ - "x":1.617810724386525, - "y":1.5830078125 - } - }, - "time":0.9623740474854646, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.16149941110125976, - "pose":{ - "rotation":{ - "radians":-2.5286828834769617 - }, - "translation":{ - "x":1.557353275539559, - "y":1.5409284319196428 - } - }, - "time":1.0360339238844247, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.27767872853960485, - "pose":{ - "rotation":{ - "radians":-2.5135302822409846 - }, - "translation":{ - "x":1.4999999999999996, - "y":1.5 - } - }, - "time":1.1064933785694948, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.3190043061414333, - "pose":{ - "rotation":{ - "radians":-2.493845124623491 - }, - "translation":{ - "x":1.4468796880614505, - "y":1.4606410435267858 - } - }, - "time":1.172606123143511, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.3644631920280974, - "pose":{ - "rotation":{ - "radians":-2.4727646530940817 - }, - "translation":{ - "x":1.3979923397239105, - "y":1.4228515625 - } - }, - "time":1.2343962332239258, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.4641994068544357, - "pose":{ - "rotation":{ - "radians":-2.426610188308126 - }, - "translation":{ - "x":1.3117877435582568, - "y":1.3515625 - } - }, - "time":1.3462593765384794, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.5623714732537684, - "pose":{ - "rotation":{ - "radians":-2.376121674237115 - }, - "translation":{ - "x":1.2391286309158336, - "y":1.2852957589285714 - } - }, - "time":1.4445987258459265, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.6302381313589197, - "pose":{ - "rotation":{ - "radians":-2.3237592010084906 - }, - "translation":{ - "x":1.1777574212094364, - "y":1.2232142857142856 - } - }, - "time":1.5318943998354357, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.6275740592678156, - "pose":{ - "rotation":{ - "radians":-2.273676363647106 - }, - "translation":{ - "x":1.1254165338518594, - "y":1.1644810267857144 - } - }, - "time":1.6105656410468794, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.5184108857125409, - "pose":{ - "rotation":{ - "radians":-2.231450857835951 - }, - "translation":{ - "x":1.0798483882558978, - "y":1.1082589285714286 - } - }, - "time":1.68293538763115, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.29618604794063763, - "pose":{ - "rotation":{ - "radians":-2.203006515292095 - }, - "translation":{ - "x":1.0387954038343463, - "y":1.0537109375 - } - }, - "time":1.751205665643216, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":3.8924307326238546e-15, - "pose":{ - "rotation":{ - "radians":-2.1929446786425015 - }, - "translation":{ - "x":1.0000000000000002, - "y":1.0 - } - }, - "time":1.817462349576227, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2961860479406326, - "pose":{ - "rotation":{ - "radians":-2.203006515292096 - }, - "translation":{ - "x":0.9612045961656538, - "y":0.9462890625 - } - }, - "time":1.883719033509238, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.5184108857125374, - "pose":{ - "rotation":{ - "radians":-2.2314508578359513 - }, - "translation":{ - "x":0.9201516117441024, - "y":0.8917410714285714 - } - }, - "time":1.951989311521304, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.6275740592678127, - "pose":{ - "rotation":{ - "radians":-2.2736763636471062 - }, - "translation":{ - "x":0.8745834661481408, - "y":0.8355189732142857 - } - }, - "time":2.0243590581055746, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.6302381313589182, - "pose":{ - "rotation":{ - "radians":-2.3237592010084906 - }, - "translation":{ - "x":0.8222425787905638, - "y":0.7767857142857143 - } - }, - "time":2.1030302993170182, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.5623714732537682, - "pose":{ - "rotation":{ - "radians":-2.3761216742371145 - }, - "translation":{ - "x":0.7608713690841664, - "y":0.7147042410714286 - } - }, - "time":2.1903259733065275, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.4641994068544356, - "pose":{ - "rotation":{ - "radians":-2.426610188308126 - }, - "translation":{ - "x":0.6882122564417434, - "y":0.6484375 - } - }, - "time":2.2886653226139746, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.3644631920280975, - "pose":{ - "rotation":{ - "radians":-2.4727646530940817 - }, - "translation":{ - "x":0.6020076602760897, - "y":0.5771484375 - } - }, - "time":2.400528465928528, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.31900430614143327, - "pose":{ - "rotation":{ - "radians":-2.493845124623491 - }, - "translation":{ - "x":0.5531203119385497, - "y":0.5393589564732143 - } - }, - "time":2.462318576008943, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2776787285396064, - "pose":{ - "rotation":{ - "radians":-2.513530282240984 - }, - "translation":{ - "x":0.5000000000000001, - "y":0.5 - } - }, - "time":2.52843132058296, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.16149941110126012, - "pose":{ - "rotation":{ - "radians":-2.5286828834769617 - }, - "translation":{ - "x":0.44264672446044084, - "y":0.45907156808035715 - } - }, - "time":2.59889077526803, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.07962494904972045, - "pose":{ - "rotation":{ - "radians":-2.537406964100821 - }, - "translation":{ - "x":0.3821892756134746, - "y":0.4169921875 - } - }, - "time":2.6725506516669904, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.012741582075827595, - "pose":{ - "rotation":{ - "radians":-2.5408334253870968 - }, - "translation":{ - "x":0.32003864132610454, - "y":0.3742850167410714 - } - }, - "time":2.7479602251743023, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.05185978219205491, - "pose":{ - "rotation":{ - "radians":-2.539376314483957 - }, - "translation":{ - "x":0.25760580946533385, - "y":0.3314732142857143 - } - }, - "time":2.823661671155418, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.12595034511604572, - "pose":{ - "rotation":{ - "radians":-2.532861598964916 - }, - "translation":{ - "x":0.19630176789816578, - "y":0.28907993861607145 - } - }, - "time":2.898196061435821, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.22532033615872293, - "pose":{ - "rotation":{ - "radians":-2.5204739603382444 - }, - "translation":{ - "x":0.13753750449160335, - "y":0.2476283482142857 - } - }, - "time":2.970109015766409, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.37790122771354123, - "pose":{ - "rotation":{ - "radians":-2.500489992864539 - }, - "translation":{ - "x":0.08272400711264993, - "y":0.2076416015625 - } - }, - "time":3.0379578138597183, - "velocity":1.0 - }, - { - "acceleration":-0.7808367222958574, - "curvature":0.643100281423417, - "pose":{ - "rotation":{ - "radians":-2.469624398069973 - }, - "translation":{ - "x":0.03327226362830871, - "y":0.16964285714285715 - } - }, - "time":3.100322703911016, - "velocity":1.0 - }, - { - "acceleration":-2.0000000000000013, - "curvature":1.1682894119278024, - "pose":{ - "rotation":{ - "radians":-2.4214787747418027 - }, - "translation":{ - "x":-0.009406738094417166, - "y":0.1341552734375 - } - }, - "time":3.1570862168452316, - "velocity":0.9556769646144485 - }, - { - "acceleration":-1.9999999999999973, - "curvature":2.3859297141582556, - "pose":{ - "rotation":{ - "radians":-2.3425427551974622 - }, - "translation":{ - "x":-0.043902010188524576, - "y":0.10170200892857145 - } - }, - "time":3.209521554480146, - "velocity":0.8508062893446202 - }, - { - "acceleration":-2.0, - "curvature":3.6335580164415213, - "pose":{ - "rotation":{ - "radians":-2.2828580802251595 - }, - "translation":{ - "x":-0.05763981391640782, - "y":0.0867767333984375 - } - }, - "time":3.2340723671528675, - "velocity":0.8017046639991773 - }, - { - "acceleration":-2.0, - "curvature":5.841092214253137, - "pose":{ - "rotation":{ - "radians":-2.200519405360358 - }, - "translation":{ - "x":-0.06880256478701008, - "y":0.07280622209821425 - } - }, - "time":3.2570356450944873, - "velocity":0.7557781081159377 - }, - { - "acceleration":-1.9999999999999925, - "curvature":7.5722712875404525, - "pose":{ - "rotation":{ - "radians":-2.1471266820536137 - }, - "translation":{ - "x":-0.07336317868727615, - "y":0.06619943891252789 - } - }, - "time":3.267811450649993, - "velocity":0.7342264970049263 - }, - { - "acceleration":-1.999999999999996, - "curvature":9.960064242378692, - "pose":{ - "rotation":{ - "radians":-2.082661298108728 - }, - "translation":{ - "x":-0.07721388931695627, - "y":0.05985586983816965 - } - }, - "time":3.2780615616135376, - "velocity":0.7137262750778367 - }, - { - "acceleration":-2.0, - "curvature":13.261968099207715, - "pose":{ - "rotation":{ - "radians":-2.004145319849071 - }, - "translation":{ - "x":-0.0803326499906285, - "y":0.05378368922642296 - } - }, - "time":3.287757559542795, - "velocity":0.6943342792193219 - }, - { - "acceleration":-1.999999999999991, - "curvature":15.349391948059386, - "pose":{ - "rotation":{ - "radians":-1.9584991400142493 - }, - "translation":{ - "x":-0.08161065950476731, - "y":0.05085192407880512 - } - }, - "time":3.2923946835700995, - "velocity":0.6850600311647128 - }, - { - "acceleration":-2.0000000000000093, - "curvature":17.775613626621393, - "pose":{ - "rotation":{ - "radians":-1.9079248174526666 - }, - "translation":{ - "x":-0.0826974140228709, - "y":0.0479910714285714 - } - }, - "time":3.2968914182980864, - "velocity":0.6760665617087386 - }, - { - "acceleration":-2.0, - "curvature":20.564297760595316, - "pose":{ - "rotation":{ - "radians":-1.8519014546201613 - }, - "translation":{ - "x":-0.08359015770926148, - "y":0.04520215306963238 - } - }, - "time":3.3012509375882564, - "velocity":0.6673475231283984 - }, - { - "acceleration":-2.00000000000001, - "curvature":23.715608877026085, - "pose":{ - "rotation":{ - "radians":-1.7899311131774183 - }, - "translation":{ - "x":-0.0842861347282613, - "y":0.04248619079589844 - } - }, - "time":3.3054790115582726, - "velocity":0.6588913751883662 - }, - { - "acceleration":-2.0, - "curvature":27.189129255565305, - "pose":{ - "rotation":{ - "radians":-1.7215918215799086 - }, - "translation":{ - "x":-0.08478258924419291, - "y":0.03984420640127995 - } - }, - "time":3.3095845125651975, - "velocity":0.6506803731745161 - }, - { - "acceleration":-2.0, - "curvature":30.883290083634527, - "pose":{ - "rotation":{ - "radians":-1.6466125428161849 - }, - "translation":{ - "x":-0.08507676542137821, - "y":0.0372772216796875 - } - }, - "time":3.3135799450469086, - "velocity":0.6426895082110943 - }, - { - "acceleration":-1.9999999999999771, - "curvature":34.61643207697983, - "pose":{ - "rotation":{ - "radians":-1.5649684441271745 - }, - "translation":{ - "x":-0.08516590742413976, - "y":0.03478625842503141 - } - }, - "time":3.317481959084308, - "velocity":0.634885480136296 - }, - { - "acceleration":-2.0, - "curvature":36.41673084842612, - "pose":{ - "rotation":{ - "radians":-1.5217325782212103 - }, - "translation":{ - "x":-0.08513272941146222, - "y":0.033569604158401434 - } - }, - "time":3.3194048318552505, - "velocity":0.6310397345944112 - }, - { - "acceleration":-2.0, - "curvature":38.11965972183798, - "pose":{ - "rotation":{ - "radians":-1.4769856740539578 - }, - "translation":{ - "x":-0.08504725941679958, - "y":0.03237233843122206 - } - }, - "time":3.3213127190597223, - "velocity":0.6272239601854677 - }, - { - "acceleration":-1.9999999999999765, - "curvature":39.680953596251996, - "pose":{ - "rotation":{ - "radians":-1.4308383360767607 - }, - "translation":{ - "x":-0.08490915296069201, - "y":0.031194588967731973 - } - }, - "time":3.323209035685624, - "velocity":0.6234313269336637 - }, - { - "acceleration":-1.9999999999999762, - "curvature":41.05512178928634, - "pose":{ - "rotation":{ - "radians":-1.3834320579244794 - }, - "translation":{ - "x":-0.08471806556368011, - "y":0.03003648349217003 - } - }, - "time":3.325097504530002, - "velocity":0.6196543892449078 - }, - { - "acceleration":-1.999999999999976, - "curvature":42.19798317269199, - "pose":{ - "rotation":{ - "radians":-1.3349387553534076 - }, - "translation":{ - "x":-0.0844736527463037, - "y":0.028898149728775024 - } - }, - "time":3.326982150396034, - "velocity":0.6158850975128444 - }, - { - "acceleration":-2.0, - "curvature":43.0695549065878, - "pose":{ - "rotation":{ - "radians":-1.2855587029566669 - }, - "translation":{ - "x":-0.08417557002910336, - "y":0.027779715401785754 - } - }, - "time":3.3288672891522357, - "velocity":0.6121148200004412 - }, - { - "acceleration":-2.000000000000024, - "curvature":43.63700751994001, - "pose":{ - "rotation":{ - "radians":-1.2355167832596736 - }, - "translation":{ - "x":-0.08382347293261927, - "y":0.026681308235441015 - } - }, - "time":3.3307575117143924, - "velocity":0.6083343748761276 - }, - { - "acceleration":-2.0, - "curvature":43.877330084679706, - "pose":{ - "rotation":{ - "radians":-1.1850571236540008 - }, - "translation":{ - "x":-0.0834170169773919, - "y":0.025603055953979437 - } - }, - "time":3.332657663350649, - "velocity":0.604534071603615 - }, - { - "acceleration":-2.0, - "curvature":43.77933999343348, - "pose":{ - "rotation":{ - "radians":-1.1344363808123417 - }, - "translation":{ - "x":-0.08295585768396119, - "y":0.02454508628164015 - } - }, - "time":3.3345728190638066, - "velocity":0.6007037601772995 - }, - { - "acceleration":-2.000000000000024, - "curvature":43.34473637514813, - "pose":{ - "rotation":{ - "radians":-1.083916102572679 - }, - "translation":{ - "x":-0.0824396505728675, - "y":0.023507526942661783 - } - }, - "time":3.3365082561315424, - "velocity":0.5968328860418279 - }, - { - "acceleration":-1.9999999999999765, - "curvature":42.588028498451074, - "pose":{ - "rotation":{ - "radians":-1.0337547208598437 - }, - "translation":{ - "x":-0.08186805116465157, - "y":0.02249050566128319 - } - }, - "time":3.3384694251434603, - "velocity":0.5929105480179918 - }, - { - "acceleration":-2.000000000000023, - "curvature":41.53534355364406, - "pose":{ - "rotation":{ - "radians":-0.9841997802056115 - }, - "translation":{ - "x":-0.08124071497985308, - "y":0.021494150161743164 - } - }, - "time":3.34046192102962, - "velocity":0.5889255562456722 - }, - { - "acceleration":-2.000000000000023, - "curvature":40.22229122406194, - "pose":{ - "rotation":{ - "radians":-0.935480973766528 - }, - "translation":{ - "x":-0.08055729753901275, - "y":0.020518588168280505 - } - }, - "time":3.3424914556093235, - "velocity":0.5848664870862655 - }, - { - "acceleration":-1.9999999999999774, - "curvature":38.69119447654324, - "pose":{ - "rotation":{ - "radians":-0.887804449537211 - }, - "translation":{ - "x":-0.07981745436267063, - "y":0.019563947405134008 - } - }, - "time":3.3445638331015197, - "velocity":0.5807217321018726 - }, - { - "acceleration":-1.9999999999999778, - "curvature":36.98805943666322, - "pose":{ - "rotation":{ - "radians":-0.8413486868007395 - }, - "translation":{ - "x":-0.07902084097136686, - "y":0.018630355596542303 - } - }, - "time":3.3466849298480974, - "velocity":0.5764795386087174 - }, - { - "acceleration":-1.9999999999999891, - "curvature":35.15964570660894, - "pose":{ - "rotation":{ - "radians":-0.7962620588663976 - }, - "translation":{ - "x":-0.07816711288564204, - "y":0.01771794046674452 - } - }, - "time":3.348860679241734, - "velocity":0.5721280398214441 - }, - { - "acceleration":-2.00000000000001, - "curvature":31.303118282225007, - "pose":{ - "rotation":{ - "radians":-0.7106357578709402 - }, - "translation":{ - "x":-0.07628693471309012, - "y":0.01595715114048546 - } - }, - "time":3.3533990574136796, - "velocity":0.5630512834775531 - }, - { - "acceleration":-1.9999999999999902, - "curvature":27.428995177461147, - "pose":{ - "rotation":{ - "radians":-0.6315132855442873 - }, - "translation":{ - "x":-0.07417416400933685, - "y":0.0142826012202672 - } - }, - "time":3.3582285130328335, - "velocity":0.5533923722392453 - }, - { - "acceleration":-2.0, - "curvature":23.75624189265796, - "pose":{ - "rotation":{ - "radians":-0.5590722011057767 - }, - "translation":{ - "x":-0.07182604493870459, - "y":0.012695312499999944 - } - }, - "time":3.363398460204786, - "velocity":0.5430524778953406 - }, - { - "acceleration":-1.9999999999999911, - "curvature":20.414249721574574, - "pose":{ - "rotation":{ - "radians":-0.4931797061696271 - }, - "translation":{ - "x":-0.06923982166551546, - "y":0.0111963067735944 - } - }, - "time":3.36895993414091, - "velocity":0.5319295300230922 - }, - { - "acceleration":-1.9999999999999918, - "curvature":17.459934497401907, - "pose":{ - "rotation":{ - "radians":-0.4334957798412308 - }, - "translation":{ - "x":-0.06641273835409178, - "y":0.009786605834960938 - } - }, - "time":3.374966631861679, - "velocity":0.5199161345815548 - }, - { - "acceleration":-2.0, - "curvature":14.9001811661835, - "pose":{ - "rotation":{ - "radians":-0.3795612382681966 - }, - "translation":{ - "x":-0.0633420391687558, - "y":0.008467231478009984 - } - }, - "time":3.381476380148027, - "velocity":0.5068966380088588 - }, - { - "acceleration":-2.0000000000000018, - "curvature":12.711979997378924, - "pose":{ - "rotation":{ - "radians":-0.33086402033744416 - }, - "translation":{ - "x":-0.06002496827382975, - "y":0.007239205496651802 - } - }, - "time":3.388553109477197, - "velocity":0.4927431793505188 - }, - { - "acceleration":-2.0000000000000018, - "curvature":9.293401276465811, - "pose":{ - "rotation":{ - "radians":-0.2471227409523188 - }, - "translation":{ - "x":-0.052640688012496994, - "y":0.005061285836356011 - } - }, - "time":3.4047069789966478, - "velocity":0.46043544031161765 - }, - { - "acceleration":-2.0000000000000013, - "curvature":6.87086543118763, - "pose":{ - "rotation":{ - "radians":-0.17844137117241632 - }, - "translation":{ - "x":-0.04423785088467114, - "y":0.0032610212053570953 - } - }, - "time":3.424195782221518, - "velocity":0.42145783386187696 - }, - { - "acceleration":-2.0000000000000018, - "curvature":5.153442078046409, - "pose":{ - "rotation":{ - "radians":-0.1216295798723478 - }, - "translation":{ - "x":-0.03479441020493046, - "y":0.0018465859549386399 - } - }, - "time":3.4482220037806184, - "velocity":0.37340539074367585 - }, - { - "acceleration":-1.9999999999999998, - "curvature":3.9250768863984966, - "pose":{ - "rotation":{ - "radians":-0.07417082549076627 - }, - "translation":{ - "x":-0.02428831928785291, - "y":0.0008261544363838969 - } - }, - "time":3.479032538249631, - "velocity":0.31178432180564974 - }, - { - "acceleration":-1.9999999999999998, - "curvature":2.3809523809523805, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":0.0, - "y":0.0 - } - }, - "time":3.634924699152456, - "velocity":0.0 - } - ] \ No newline at end of file diff --git a/autonomous/routines/routine_2/auto_routine.json b/autonomous/routines/routine_2/auto_routine.json deleted file mode 100644 index ea9c624..0000000 --- a/autonomous/routines/routine_2/auto_routine.json +++ /dev/null @@ -1,2646 +0,0 @@ -{ - "trajectory_1": [ - { - "acceleration": 2.0000000000000004, - "curvature": 2.3809523809523814, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 0.0, - "y": 0.0 - } - }, - "time": 0.0, - "velocity": 0.0 - }, - { - "acceleration": 2.000000000000001, - "curvature": 2.595325966847042, - "pose": { - "rotation": { - "radians": 0.06460283167616494 - }, - "translation": { - "x": 0.025940628160620836, - "y": 0.0008261544363839286 - } - }, - "time": 0.1611017705266734, - "velocity": 0.32220354105334686 - }, - { - "acceleration": 1.999999999999999, - "curvature": 2.787492742305355, - "pose": { - "rotation": { - "radians": 0.13177918578963022 - }, - "translation": { - "x": 0.05075989329538541, - "y": 0.003261021205357143 - } - }, - "time": 0.22559298431162372, - "velocity": 0.45118596862324756 - }, - { - "acceleration": 2.0, - "curvature": 2.9449252494021136, - "pose": { - "rotation": { - "radians": 0.20086675304867105 - }, - "translation": { - "x": 0.07450337926713341, - "y": 0.007239205496651787 - } - }, - "time": 0.27380037105598976, - "velocity": 0.5476007421119795 - }, - { - "acceleration": 2.0000000000000013, - "curvature": 3.0563610293310313, - "pose": { - "rotation": { - "radians": 0.271067404114427 - }, - "translation": { - "x": 0.09721666993870451, - "y": 0.0126953125 - } - }, - "time": 0.3135698756503563, - "velocity": 0.6271397513007126 - }, - { - "acceleration": 2.0000000000000013, - "curvature": 3.1135922042633504, - "pose": { - "rotation": { - "radians": 0.34148963883778916 - }, - "translation": { - "x": 0.11894534917293839, - "y": 0.01956394740513393 - } - }, - "time": 0.34801511627663584, - "velocity": 0.6960302325532717 - }, - { - "acceleration": 2.0, - "curvature": 3.112845373687687, - "pose": { - "rotation": { - "radians": 0.4112057410202867 - }, - "translation": { - "x": 0.13973500083267476, - "y": 0.02777971540178572 - } - }, - "time": 0.3787725979355451, - "velocity": 0.7575451958710901 - }, - { - "acceleration": 2.0, - "curvature": 3.055332259900253, - "pose": { - "rotation": { - "radians": 0.4793147718377678 - }, - "translation": { - "x": 0.15963120878075332, - "y": 0.0372772216796875 - } - }, - "time": 0.4068359476982932, - "velocity": 0.8136718953965864 - }, - { - "acceleration": 2.0, - "curvature": 2.9468175976334776, - "pose": { - "rotation": { - "radians": 0.5450007702314661 - }, - "translation": { - "x": 0.1786795568800137, - "y": 0.04799107142857143 - } - }, - "time": 0.43286273556068766, - "velocity": 0.8657254711213753 - }, - { - "acceleration": 2.0000000000000027, - "curvature": 2.796384020129445, - "pose": { - "rotation": { - "radians": 0.6075769725261475 - }, - "translation": { - "x": 0.19692562899329563, - "y": 0.059855869838169644 - } - }, - "time": 0.45731239630972664, - "velocity": 0.9146247926194533 - }, - { - "acceleration": 1.749932129781575, - "curvature": 2.6148056057208007, - "pose": { - "rotation": { - "radians": 0.666510847769103 - }, - "translation": { - "x": 0.21441500898343874, - "y": 0.07280622209821429 - } - }, - "time": 0.48051717108354774, - "velocity": 0.9610343421670956 - }, - { - "acceleration": 0.0, - "curvature": 2.4129782382963043, - "pose": { - "rotation": { - "radians": 0.7214295479787702 - }, - "translation": { - "x": 0.23119328071328277, - "y": 0.0867767333984375 - } - }, - "time": 0.5027841248526451, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 2.2007240886301007, - "pose": { - "rotation": { - "radians": 0.7721092401780296 - }, - "translation": { - "x": 0.24730602804566743, - "y": 0.10170200892857144 - } - }, - "time": 0.524747377713906, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.9860923592042752, - "pose": { - "rotation": { - "radians": 0.8184537703343066 - }, - "translation": { - "x": 0.26279883484343236, - "y": 0.11751665387834821 - } - }, - "time": 0.5468862588365004, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.7751158042945765, - "pose": { - "rotation": { - "radians": 0.8604682380066073 - }, - "translation": { - "x": 0.2777172849694172, - "y": 0.1341552734375 - } - }, - "time": 0.5692336035332577, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.378877735802265, - "pose": { - "rotation": { - "radians": 0.9318738882940065 - }, - "translation": { - "x": 0.3060134506574056, - "y": 0.16964285714285715 - } - }, - "time": 0.6146212845699313, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.0269790123916365, - "pose": { - "rotation": { - "radians": 0.9874352146007722 - }, - "translation": { - "x": 0.33255919601235007, - "y": 0.2076416015625 - } - }, - "time": 0.6609740749273509, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.7184011472705635, - "pose": { - "rotation": { - "radians": 1.028489463266511 - }, - "translation": { - "x": 0.357719191936968, - "y": 0.24762834821428573 - } - }, - "time": 0.7082177549567569, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.1930851987713053, - "pose": { - "rotation": { - "radians": 1.0716201459130537 - }, - "translation": { - "x": 0.40534061910609465, - "y": 0.3314732142857143 - } - }, - "time": 0.8046426578198671, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2916630807647434, - "pose": { - "rotation": { - "radians": 1.0669149846908788 - }, - "translation": { - "x": 0.4517950993865254, - "y": 0.41699218749999994 - } - }, - "time": 0.9019643589853864, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.837092751266262, - "pose": { - "rotation": { - "radians": 1.0137255642722038 - }, - "translation": { - "x": 0.5, - "y": 0.5 - } - }, - "time": 0.9979539906087557, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.800067132725784, - "pose": { - "rotation": { - "radians": 0.9371365584178165 - }, - "translation": { - "x": 0.5522892147239105, - "y": 0.5771484375 - } - }, - "time": 1.0911529358020067, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.7305970666123351, - "pose": { - "rotation": { - "radians": 0.8673303065438499 - }, - "translation": { - "x": 0.6086627435582567, - "y": 0.6484375 - } - }, - "time": 1.1820380566159538, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6353268212231772, - "pose": { - "rotation": { - "radians": 0.8061523795916493 - }, - "translation": { - "x": 0.6685371130586908, - "y": 0.7147042410714286 - } - }, - "time": 1.2713477486728761, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.521996158571609, - "pose": { - "rotation": { - "radians": 0.7549381802864602 - }, - "translation": { - "x": 0.7313288497808648, - "y": 0.7767857142857143 - } - }, - "time": 1.3596478705133521, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3975528759100238, - "pose": { - "rotation": { - "radians": 0.7145498145006239 - }, - "translation": { - "x": 0.7964544802804306, - "y": 0.8355189732142857 - } - }, - "time": 1.4473458947347484, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2671592856148399, - "pose": { - "rotation": { - "radians": 0.6854795494256645 - }, - "translation": { - "x": 0.8633305311130404, - "y": 0.8917410714285714 - } - }, - "time": 1.5347148280153062, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.13405818704189948, - "pose": { - "rotation": { - "radians": 0.6679716319317236 - }, - "translation": { - "x": 0.9313735288343461, - "y": 0.9462890625 - } - }, - "time": 1.6219233876228945, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.0, - "pose": { - "rotation": { - "radians": 0.6621270389708964 - }, - "translation": { - "x": 0.9999999999999999, - "y": 1.0 - } - }, - "time": 1.7090695714279196, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.13405818704189962, - "pose": { - "rotation": { - "radians": 0.6679716319317235 - }, - "translation": { - "x": 1.0686264711656537, - "y": 1.0537109375 - } - }, - "time": 1.7962157552329447, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.2671592856148402, - "pose": { - "rotation": { - "radians": 0.6854795494256642 - }, - "translation": { - "x": 1.1366694688869594, - "y": 1.1082589285714286 - } - }, - "time": 1.883424314840533, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3975528759100245, - "pose": { - "rotation": { - "radians": 0.7145498145006239 - }, - "translation": { - "x": 1.2035455197195692, - "y": 1.1644810267857144 - } - }, - "time": 1.970793248121091, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.52199615857161, - "pose": { - "rotation": { - "radians": 0.7549381802864603 - }, - "translation": { - "x": 1.2686711502191352, - "y": 1.2232142857142858 - } - }, - "time": 2.0584912723424873, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6353268212231779, - "pose": { - "rotation": { - "radians": 0.8061523795916495 - }, - "translation": { - "x": 1.3314628869413092, - "y": 1.2852957589285716 - } - }, - "time": 2.146791394182963, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.7305970666123357, - "pose": { - "rotation": { - "radians": 0.8673303065438502 - }, - "translation": { - "x": 1.3913372564417432, - "y": 1.3515625 - } - }, - "time": 2.236101086239885, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.8000671327257849, - "pose": { - "rotation": { - "radians": 0.937136558417817 - }, - "translation": { - "x": 1.4477107852760895, - "y": 1.4228515625 - } - }, - "time": 2.3269862070538325, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.8370927512662617, - "pose": { - "rotation": { - "radians": 1.0137255642722043 - }, - "translation": { - "x": 1.5, - "y": 1.5000000000000002 - } - }, - "time": 2.420185152247084, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.2916630807647438, - "pose": { - "rotation": { - "radians": 1.0669149846908788 - }, - "translation": { - "x": 1.5482049006134746, - "y": 1.5830078125 - } - }, - "time": 2.516174783870453, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.1930851987713047, - "pose": { - "rotation": { - "radians": 1.0716201459130534 - }, - "translation": { - "x": 1.5946593808939054, - "y": 1.6685267857142856 - } - }, - "time": 2.6134964850359723, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.7184011472705635, - "pose": { - "rotation": { - "radians": 1.028489463266511 - }, - "translation": { - "x": 1.642280808063032, - "y": 1.7523716517857144 - } - }, - "time": 2.7099213878990827, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.0269790123916358, - "pose": { - "rotation": { - "radians": 0.9874352146007725 - }, - "translation": { - "x": 1.6674408039876498, - "y": 1.7923583984375 - } - }, - "time": 2.7571650679284883, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.378877735802265, - "pose": { - "rotation": { - "radians": 0.9318738882940066 - }, - "translation": { - "x": 1.6939865493425943, - "y": 1.8303571428571428 - } - }, - "time": 2.803517858285908, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.7751158042945763, - "pose": { - "rotation": { - "radians": 0.8604682380066074 - }, - "translation": { - "x": 1.7222827150305826, - "y": 1.8658447265625 - } - }, - "time": 2.8489055393225815, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.9860923592042752, - "pose": { - "rotation": { - "radians": 0.8184537703343068 - }, - "translation": { - "x": 1.7372011651565675, - "y": 1.882483346121652 - } - }, - "time": 2.8712528840193388, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -2.2007240886301, - "pose": { - "rotation": { - "radians": 0.7721092401780295 - }, - "translation": { - "x": 1.7526939719543324, - "y": 1.8982979910714286 - } - }, - "time": 2.893391765141933, - "velocity": 1.0 - }, - { - "acceleration": -1.7499321297815522, - "curvature": -2.4129782382963048, - "pose": { - "rotation": { - "radians": 0.7214295479787705 - }, - "translation": { - "x": 1.7688067192867172, - "y": 1.9132232666015625 - } - }, - "time": 2.915355018003194, - "velocity": 1.0 - }, - { - "acceleration": -2.0000000000000027, - "curvature": -2.6148056057208007, - "pose": { - "rotation": { - "radians": 0.6665108477691031 - }, - "translation": { - "x": 1.7855849910165613, - "y": 1.9271937779017858 - } - }, - "time": 2.9376219717722916, - "velocity": 0.9610343421670957 - }, - { - "acceleration": -2.0, - "curvature": -2.796384020129447, - "pose": { - "rotation": { - "radians": 0.6075769725261476 - }, - "translation": { - "x": 1.8030743710067043, - "y": 1.9401441301618303 - } - }, - "time": 2.9608267465461124, - "velocity": 0.9146247926194542 - }, - { - "acceleration": -2.0, - "curvature": -2.946817597633479, - "pose": { - "rotation": { - "radians": 0.5450007702314662 - }, - "translation": { - "x": 1.821320443119986, - "y": 1.9520089285714286 - } - }, - "time": 2.985276407295151, - "velocity": 0.8657254711213762 - }, - { - "acceleration": -2.0000000000000027, - "curvature": -3.055332259900255, - "pose": { - "rotation": { - "radians": 0.479314771837768 - }, - "translation": { - "x": 1.8403687912192466, - "y": 1.9627227783203125 - } - }, - "time": 3.011303195157546, - "velocity": 0.8136718953965866 - }, - { - "acceleration": -2.0, - "curvature": -3.1128453736876884, - "pose": { - "rotation": { - "radians": 0.41120574102028656 - }, - "translation": { - "x": 1.8602649991673252, - "y": 1.9722202845982142 - } - }, - "time": 3.0393665449202945, - "velocity": 0.7575451958710898 - }, - { - "acceleration": -2.0000000000000013, - "curvature": -3.1135922042633504, - "pose": { - "rotation": { - "radians": 0.34148963883778904 - }, - "translation": { - "x": 1.8810546508270616, - "y": 1.9804360525948659 - } - }, - "time": 3.070124026579204, - "velocity": 0.696030232553271 - }, - { - "acceleration": -1.999999999999999, - "curvature": -3.056361029331032, - "pose": { - "rotation": { - "radians": 0.27106740411442715 - }, - "translation": { - "x": 1.9027833300612955, - "y": 1.9873046875 - } - }, - "time": 3.1045692672054837, - "velocity": 0.6271397513007115 - }, - { - "acceleration": -2.0, - "curvature": -2.9449252494021136, - "pose": { - "rotation": { - "radians": 0.20086675304867097 - }, - "translation": { - "x": 1.9254966207328665, - "y": 1.992760794503348 - } - }, - "time": 3.1443387717998506, - "velocity": 0.547600742111978 - }, - { - "acceleration": -1.9999999999999998, - "curvature": -2.7874927423053566, - "pose": { - "rotation": { - "radians": 0.13177918578963033 - }, - "translation": { - "x": 1.9492401067046146, - "y": 1.9967389787946428 - } - }, - "time": 3.1925461585442165, - "velocity": 0.45118596862324617 - }, - { - "acceleration": -2.0000000000000004, - "curvature": -2.595325966847042, - "pose": { - "rotation": { - "radians": 0.06460283167616503 - }, - "translation": { - "x": 1.974059371839379, - "y": 1.999173845563616 - } - }, - "time": 3.2570373723291666, - "velocity": 0.3222035410533462 - }, - { - "acceleration": -2.0000000000000004, - "curvature": -2.380952380952382, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 2.0, - "y": 2.0 - } - }, - "time": 3.4181391428558396, - "velocity": 0.0 - } - ], - "trajectory_2": [ - { - "acceleration": 2.0, - "curvature": -2.3809523809523814, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 2.0, - "y": 2.0 - } - }, - "time": 0.0, - "velocity": 0.0 - }, - { - "acceleration": 2.0, - "curvature": -3.925076886398501, - "pose": { - "rotation": { - "radians": -0.07417082549076623 - }, - "translation": { - "x": 2.024288319287853, - "y": 1.999173845563616 - } - }, - "time": 0.1558921609028255, - "velocity": 0.311784321805651 - }, - { - "acceleration": 2.0, - "curvature": -5.153442078046409, - "pose": { - "rotation": { - "radians": -0.1216295798723478 - }, - "translation": { - "x": 2.0347944102049302, - "y": 1.9981534140450614 - } - }, - "time": 0.1867026953718375, - "velocity": 0.373405390743675 - }, - { - "acceleration": 2.0, - "curvature": -6.870865431187638, - "pose": { - "rotation": { - "radians": -0.17844137117241632 - }, - "translation": { - "x": 2.044237850884671, - "y": 1.9967389787946428 - } - }, - "time": 0.210728916930938, - "velocity": 0.421457833861876 - }, - { - "acceleration": 2.0, - "curvature": -9.293401276465815, - "pose": { - "rotation": { - "radians": -0.24712274095231881 - }, - "translation": { - "x": 2.052640688012497, - "y": 1.9949387141636439 - } - }, - "time": 0.23021772015580907, - "velocity": 0.46043544031161815 - }, - { - "acceleration": 2.0, - "curvature": -12.711979997378936, - "pose": { - "rotation": { - "radians": -0.33086402033744444 - }, - "translation": { - "x": 2.06002496827383, - "y": 1.9927607945033483 - } - }, - "time": 0.24637158967525977, - "velocity": 0.49274317935051953 - }, - { - "acceleration": 1.9999999999999918, - "curvature": -14.900181166183526, - "pose": { - "rotation": { - "radians": -0.379561238268197 - }, - "translation": { - "x": 2.063342039168756, - "y": 1.9915327685219901 - } - }, - "time": 0.25344831900442966, - "velocity": 0.5068966380088593 - }, - { - "acceleration": 2.0, - "curvature": -17.459934497401925, - "pose": { - "rotation": { - "radians": -0.4334957798412309 - }, - "translation": { - "x": 2.066412738354092, - "y": 1.990213394165039 - } - }, - "time": 0.25995806729077736, - "velocity": 0.5199161345815547 - }, - { - "acceleration": 1.9999999999999907, - "curvature": -20.414249721574603, - "pose": { - "rotation": { - "radians": -0.49317970616962725 - }, - "translation": { - "x": 2.0692398216655152, - "y": 1.9888036932264055 - } - }, - "time": 0.26596476501154587, - "velocity": 0.5319295300230917 - }, - { - "acceleration": 2.0, - "curvature": -23.75624189265799, - "pose": { - "rotation": { - "radians": -0.5590722011057766 - }, - "translation": { - "x": 2.0718260449387045, - "y": 1.9873046875 - } - }, - "time": 0.27152623894767053, - "velocity": 0.5430524778953411 - }, - { - "acceleration": 1.9999999999999898, - "curvature": -27.428995177461175, - "pose": { - "rotation": { - "radians": -0.6315132855442878 - }, - "translation": { - "x": 2.074174164009337, - "y": 1.9857173987797327 - } - }, - "time": 0.2766961861196231, - "velocity": 0.5533923722392462 - }, - { - "acceleration": 2.0, - "curvature": -31.303118282225075, - "pose": { - "rotation": { - "radians": -0.7106357578709409 - }, - "translation": { - "x": 2.07628693471309, - "y": 1.9840428488595145 - } - }, - "time": 0.2815256417387766, - "velocity": 0.5630512834775532 - }, - { - "acceleration": 2.000000000000022, - "curvature": -35.159645706609, - "pose": { - "rotation": { - "radians": -0.7962620588663979 - }, - "translation": { - "x": 2.0781671128856423, - "y": 1.9822820595332555 - } - }, - "time": 0.2860640199107224, - "velocity": 0.5721280398214448 - }, - { - "acceleration": 2.0, - "curvature": -36.988059436663285, - "pose": { - "rotation": { - "radians": -0.8413486868007399 - }, - "translation": { - "x": 2.079020840971367, - "y": 1.9813696444034576 - } - }, - "time": 0.2882397693043589, - "velocity": 0.5764795386087178 - }, - { - "acceleration": 1.9999999999999771, - "curvature": -38.6911944765433, - "pose": { - "rotation": { - "radians": -0.8878044495372119 - }, - "translation": { - "x": 2.0798174543626704, - "y": 1.980436052594866 - } - }, - "time": 0.2903608660509362, - "velocity": 0.5807217321018724 - }, - { - "acceleration": 2.000000000000023, - "curvature": -40.22229122406195, - "pose": { - "rotation": { - "radians": -0.9354809737665283 - }, - "translation": { - "x": 2.0805572975390128, - "y": 1.9794814118317194 - } - }, - "time": 0.2924332435431329, - "velocity": 0.5848664870862658 - }, - { - "acceleration": 1.9999999999999765, - "curvature": -41.535343553644125, - "pose": { - "rotation": { - "radians": -0.9841997802056122 - }, - "translation": { - "x": 2.0812407149798533, - "y": 1.9785058498382568 - } - }, - "time": 0.2944627781228363, - "velocity": 0.5889255562456726 - }, - { - "acceleration": 2.000000000000024, - "curvature": -42.588028498451095, - "pose": { - "rotation": { - "radians": -1.033754720859844 - }, - "translation": { - "x": 2.0818680511646517, - "y": 1.9775094943387168 - } - }, - "time": 0.29645527400899585, - "velocity": 0.5929105480179917 - }, - { - "acceleration": 2.0, - "curvature": -43.344736375148244, - "pose": { - "rotation": { - "radians": -1.0839161025726805 - }, - "translation": { - "x": 2.0824396505728675, - "y": 1.976492473057338 - } - }, - "time": 0.29841644302091386, - "velocity": 0.5968328860418277 - }, - { - "acceleration": 2.000000000000024, - "curvature": -43.77933999343355, - "pose": { - "rotation": { - "radians": -1.1344363808123423 - }, - "translation": { - "x": 2.0829558576839613, - "y": 1.97545491371836 - } - }, - "time": 0.30035188008864977, - "velocity": 0.6007037601772995 - }, - { - "acceleration": 1.999999999999976, - "curvature": -43.87733008467971, - "pose": { - "rotation": { - "radians": -1.1850571236540004 - }, - "translation": { - "x": 2.083417016977392, - "y": 1.9743969440460205 - } - }, - "time": 0.3022670358018074, - "velocity": 0.6045340716036148 - }, - { - "acceleration": 1.999999999999976, - "curvature": -43.637007519940035, - "pose": { - "rotation": { - "radians": -1.2355167832596747 - }, - "translation": { - "x": 2.0838234729326195, - "y": 1.973318691764559 - } - }, - "time": 0.30416718743806354, - "velocity": 0.6083343748761271 - }, - { - "acceleration": 2.0, - "curvature": -43.06955490658779, - "pose": { - "rotation": { - "radians": -1.2855587029566673 - }, - "translation": { - "x": 2.084175570029103, - "y": 1.9722202845982142 - } - }, - "time": 0.3060574100002201, - "velocity": 0.6121148200004402 - }, - { - "acceleration": 2.0, - "curvature": -42.197983172692034, - "pose": { - "rotation": { - "radians": -1.334938755353409 - }, - "translation": { - "x": 2.0844736527463037, - "y": 1.971101850271225 - } - }, - "time": 0.3079425487564216, - "velocity": 0.6158850975128431 - }, - { - "acceleration": 2.0, - "curvature": -41.0551217892863, - "pose": { - "rotation": { - "radians": -1.3834320579244797 - }, - "translation": { - "x": 2.08471806556368, - "y": 1.96996351650783 - } - }, - "time": 0.3098271946224532, - "velocity": 0.6196543892449063 - }, - { - "acceleration": 1.9999999999999767, - "curvature": -39.680953596252024, - "pose": { - "rotation": { - "radians": -1.4308383360767614 - }, - "translation": { - "x": 2.0849091529606922, - "y": 1.968805411032268 - } - }, - "time": 0.3117156634668311, - "velocity": 0.6234313269336622 - }, - { - "acceleration": 2.000000000000023, - "curvature": -38.11965972183801, - "pose": { - "rotation": { - "radians": -1.4769856740539584 - }, - "translation": { - "x": 2.0850472594167995, - "y": 1.967627661568778 - } - }, - "time": 0.31361198009273245, - "velocity": 0.6272239601854649 - }, - { - "acceleration": 2.0, - "curvature": -36.41673084842611, - "pose": { - "rotation": { - "radians": -1.5217325782212117 - }, - "translation": { - "x": 2.085132729411462, - "y": 1.9664303958415985 - } - }, - "time": 0.3155198672972044, - "velocity": 0.6310397345944088 - }, - { - "acceleration": 1.999999999999989, - "curvature": -34.61643207697982, - "pose": { - "rotation": { - "radians": -1.5649684441271747 - }, - "translation": { - "x": 2.0851659074241398, - "y": 1.9652137415749686 - } - }, - "time": 0.31744274006814643, - "velocity": 0.6348854801362929 - }, - { - "acceleration": 1.9999999999999893, - "curvature": -30.8832900836345, - "pose": { - "rotation": { - "radians": -1.646612542816186 - }, - "translation": { - "x": 2.085076765421378, - "y": 1.9627227783203125 - } - }, - "time": 0.3213447541055456, - "velocity": 0.6426895082110912 - }, - { - "acceleration": 2.0, - "curvature": -27.189129255565312, - "pose": { - "rotation": { - "radians": -1.721591821579909 - }, - "translation": { - "x": 2.084782589244193, - "y": 1.96015579359872 - } - }, - "time": 0.32534018658725694, - "velocity": 0.6506803731745139 - }, - { - "acceleration": 1.99999999999999, - "curvature": -23.715608877026064, - "pose": { - "rotation": { - "radians": -1.7899311131774194 - }, - "translation": { - "x": 2.0842861347282615, - "y": 1.9575138092041016 - } - }, - "time": 0.32944568759418175, - "velocity": 0.6588913751883635 - }, - { - "acceleration": 1.9999999999999905, - "curvature": -20.564297760595313, - "pose": { - "rotation": { - "radians": -1.8519014546201618 - }, - "translation": { - "x": 2.0835901577092613, - "y": 1.9547978469303675 - } - }, - "time": 0.33367376156419803, - "velocity": 0.6673475231283961 - }, - { - "acceleration": 2.000000000000009, - "curvature": -17.77561362662137, - "pose": { - "rotation": { - "radians": -1.9079248174526673 - }, - "translation": { - "x": 2.0826974140228707, - "y": 1.9520089285714286 - } - }, - "time": 0.33803328085436823, - "velocity": 0.6760665617087365 - }, - { - "acceleration": 1.9999999999999913, - "curvature": -15.34939194805936, - "pose": { - "rotation": { - "radians": -1.9584991400142502 - }, - "translation": { - "x": 2.081610659504767, - "y": 1.949148075921195 - } - }, - "time": 0.3425300155823549, - "velocity": 0.6850600311647098 - }, - { - "acceleration": 2.000000000000004, - "curvature": -13.261968099207705, - "pose": { - "rotation": { - "radians": -2.0041453198490715 - }, - "translation": { - "x": 2.0803326499906283, - "y": 1.946216310773577 - } - }, - "time": 0.3471671396096597, - "velocity": 0.6943342792193195 - }, - { - "acceleration": 2.0, - "curvature": -9.960064242378673, - "pose": { - "rotation": { - "radians": -2.0826612981087287 - }, - "translation": { - "x": 2.0772138893169565, - "y": 1.9401441301618303 - } - }, - "time": 0.35686313753891696, - "velocity": 0.7137262750778339 - }, - { - "acceleration": 2.0, - "curvature": -7.572271287540442, - "pose": { - "rotation": { - "radians": -2.1471266820536146 - }, - "translation": { - "x": 2.073363178687276, - "y": 1.933800561087472 - } - }, - "time": 0.36711324850246235, - "velocity": 0.7342264970049247 - }, - { - "acceleration": 2.0, - "curvature": -5.841092214253132, - "pose": { - "rotation": { - "radians": -2.2005194053603585 - }, - "translation": { - "x": 2.0688025647870103, - "y": 1.9271937779017858 - } - }, - "time": 0.3778890540579677, - "velocity": 0.7557781081159354 - }, - { - "acceleration": 2.0, - "curvature": -3.6335580164415155, - "pose": { - "rotation": { - "radians": -2.2828580802251603 - }, - "translation": { - "x": 2.0576398139164076, - "y": 1.9132232666015625 - } - }, - "time": 0.4008523319995877, - "velocity": 0.8017046639991754 - }, - { - "acceleration": 1.999999999999999, - "curvature": -2.3859297141582525, - "pose": { - "rotation": { - "radians": -2.3425427551974622 - }, - "translation": { - "x": 2.0439020101885244, - "y": 1.8982979910714286 - } - }, - "time": 0.4254031446723092, - "velocity": 0.8508062893446184 - }, - { - "acceleration": 0.7808367222958948, - "curvature": -1.168289411927801, - "pose": { - "rotation": { - "radians": -2.421478774741803 - }, - "translation": { - "x": 2.009406738094417, - "y": 1.8658447265625 - } - }, - "time": 0.47783848230722326, - "velocity": 0.9556769646144465 - }, - { - "acceleration": 0.0, - "curvature": -0.6431002814234164, - "pose": { - "rotation": { - "radians": -2.4696243980699735 - }, - "translation": { - "x": 1.9667277363716913, - "y": 1.8303571428571428 - } - }, - "time": 0.5346019952414388, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3779012277135409, - "pose": { - "rotation": { - "radians": -2.5004899928645394 - }, - "translation": { - "x": 1.91727599288735, - "y": 1.7923583984375 - } - }, - "time": 0.5969668852927363, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.22532033615872268, - "pose": { - "rotation": { - "radians": -2.520473960338245 - }, - "translation": { - "x": 1.8624624955083964, - "y": 1.7523716517857142 - } - }, - "time": 0.6648156833860457, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.1259503451160458, - "pose": { - "rotation": { - "radians": -2.5328615989649164 - }, - "translation": { - "x": 1.803698232101834, - "y": 1.7109200613839286 - } - }, - "time": 0.7367286377166338, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.05185978219205503, - "pose": { - "rotation": { - "radians": -2.539376314483957 - }, - "translation": { - "x": 1.7423941905346658, - "y": 1.6685267857142856 - } - }, - "time": 0.8112630279970368, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.012741582075827209, - "pose": { - "rotation": { - "radians": -2.540833425387097 - }, - "translation": { - "x": 1.679961358673895, - "y": 1.6257149832589286 - } - }, - "time": 0.8869644739781525, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.07962494904972009, - "pose": { - "rotation": { - "radians": -2.5374069641008212 - }, - "translation": { - "x": 1.617810724386525, - "y": 1.5830078125 - } - }, - "time": 0.9623740474854646, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.16149941110125976, - "pose": { - "rotation": { - "radians": -2.5286828834769617 - }, - "translation": { - "x": 1.557353275539559, - "y": 1.5409284319196428 - } - }, - "time": 1.0360339238844247, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.27767872853960485, - "pose": { - "rotation": { - "radians": -2.5135302822409846 - }, - "translation": { - "x": 1.4999999999999996, - "y": 1.5 - } - }, - "time": 1.1064933785694948, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3190043061414333, - "pose": { - "rotation": { - "radians": -2.493845124623491 - }, - "translation": { - "x": 1.4468796880614505, - "y": 1.4606410435267858 - } - }, - "time": 1.172606123143511, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3644631920280974, - "pose": { - "rotation": { - "radians": -2.4727646530940817 - }, - "translation": { - "x": 1.3979923397239105, - "y": 1.4228515625 - } - }, - "time": 1.2343962332239258, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.4641994068544357, - "pose": { - "rotation": { - "radians": -2.426610188308126 - }, - "translation": { - "x": 1.3117877435582568, - "y": 1.3515625 - } - }, - "time": 1.3462593765384794, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.5623714732537684, - "pose": { - "rotation": { - "radians": -2.376121674237115 - }, - "translation": { - "x": 1.2391286309158336, - "y": 1.2852957589285714 - } - }, - "time": 1.4445987258459265, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6302381313589197, - "pose": { - "rotation": { - "radians": -2.3237592010084906 - }, - "translation": { - "x": 1.1777574212094364, - "y": 1.2232142857142856 - } - }, - "time": 1.5318943998354357, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6275740592678156, - "pose": { - "rotation": { - "radians": -2.273676363647106 - }, - "translation": { - "x": 1.1254165338518594, - "y": 1.1644810267857144 - } - }, - "time": 1.6105656410468794, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.5184108857125409, - "pose": { - "rotation": { - "radians": -2.231450857835951 - }, - "translation": { - "x": 1.0798483882558978, - "y": 1.1082589285714286 - } - }, - "time": 1.68293538763115, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.29618604794063763, - "pose": { - "rotation": { - "radians": -2.203006515292095 - }, - "translation": { - "x": 1.0387954038343463, - "y": 1.0537109375 - } - }, - "time": 1.751205665643216, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 3.8924307326238546e-15, - "pose": { - "rotation": { - "radians": -2.1929446786425015 - }, - "translation": { - "x": 1.0000000000000002, - "y": 1.0 - } - }, - "time": 1.817462349576227, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2961860479406326, - "pose": { - "rotation": { - "radians": -2.203006515292096 - }, - "translation": { - "x": 0.9612045961656538, - "y": 0.9462890625 - } - }, - "time": 1.883719033509238, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.5184108857125374, - "pose": { - "rotation": { - "radians": -2.2314508578359513 - }, - "translation": { - "x": 0.9201516117441024, - "y": 0.8917410714285714 - } - }, - "time": 1.951989311521304, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6275740592678127, - "pose": { - "rotation": { - "radians": -2.2736763636471062 - }, - "translation": { - "x": 0.8745834661481408, - "y": 0.8355189732142857 - } - }, - "time": 2.0243590581055746, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6302381313589182, - "pose": { - "rotation": { - "radians": -2.3237592010084906 - }, - "translation": { - "x": 0.8222425787905638, - "y": 0.7767857142857143 - } - }, - "time": 2.1030302993170182, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.5623714732537682, - "pose": { - "rotation": { - "radians": -2.3761216742371145 - }, - "translation": { - "x": 0.7608713690841664, - "y": 0.7147042410714286 - } - }, - "time": 2.1903259733065275, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.4641994068544356, - "pose": { - "rotation": { - "radians": -2.426610188308126 - }, - "translation": { - "x": 0.6882122564417434, - "y": 0.6484375 - } - }, - "time": 2.2886653226139746, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3644631920280975, - "pose": { - "rotation": { - "radians": -2.4727646530940817 - }, - "translation": { - "x": 0.6020076602760897, - "y": 0.5771484375 - } - }, - "time": 2.400528465928528, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.31900430614143327, - "pose": { - "rotation": { - "radians": -2.493845124623491 - }, - "translation": { - "x": 0.5531203119385497, - "y": 0.5393589564732143 - } - }, - "time": 2.462318576008943, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2776787285396064, - "pose": { - "rotation": { - "radians": -2.513530282240984 - }, - "translation": { - "x": 0.5000000000000001, - "y": 0.5 - } - }, - "time": 2.52843132058296, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.16149941110126012, - "pose": { - "rotation": { - "radians": -2.5286828834769617 - }, - "translation": { - "x": 0.44264672446044084, - "y": 0.45907156808035715 - } - }, - "time": 2.59889077526803, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.07962494904972045, - "pose": { - "rotation": { - "radians": -2.537406964100821 - }, - "translation": { - "x": 0.3821892756134746, - "y": 0.4169921875 - } - }, - "time": 2.6725506516669904, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.012741582075827595, - "pose": { - "rotation": { - "radians": -2.5408334253870968 - }, - "translation": { - "x": 0.32003864132610454, - "y": 0.3742850167410714 - } - }, - "time": 2.7479602251743023, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.05185978219205491, - "pose": { - "rotation": { - "radians": -2.539376314483957 - }, - "translation": { - "x": 0.25760580946533385, - "y": 0.3314732142857143 - } - }, - "time": 2.823661671155418, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.12595034511604572, - "pose": { - "rotation": { - "radians": -2.532861598964916 - }, - "translation": { - "x": 0.19630176789816578, - "y": 0.28907993861607145 - } - }, - "time": 2.898196061435821, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.22532033615872293, - "pose": { - "rotation": { - "radians": -2.5204739603382444 - }, - "translation": { - "x": 0.13753750449160335, - "y": 0.2476283482142857 - } - }, - "time": 2.970109015766409, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.37790122771354123, - "pose": { - "rotation": { - "radians": -2.500489992864539 - }, - "translation": { - "x": 0.08272400711264993, - "y": 0.2076416015625 - } - }, - "time": 3.0379578138597183, - "velocity": 1.0 - }, - { - "acceleration": -0.7808367222958574, - "curvature": 0.643100281423417, - "pose": { - "rotation": { - "radians": -2.469624398069973 - }, - "translation": { - "x": 0.03327226362830871, - "y": 0.16964285714285715 - } - }, - "time": 3.100322703911016, - "velocity": 1.0 - }, - { - "acceleration": -2.0000000000000013, - "curvature": 1.1682894119278024, - "pose": { - "rotation": { - "radians": -2.4214787747418027 - }, - "translation": { - "x": -0.009406738094417166, - "y": 0.1341552734375 - } - }, - "time": 3.1570862168452316, - "velocity": 0.9556769646144485 - }, - { - "acceleration": -1.9999999999999973, - "curvature": 2.3859297141582556, - "pose": { - "rotation": { - "radians": -2.3425427551974622 - }, - "translation": { - "x": -0.043902010188524576, - "y": 0.10170200892857145 - } - }, - "time": 3.209521554480146, - "velocity": 0.8508062893446202 - }, - { - "acceleration": -2.0, - "curvature": 3.6335580164415213, - "pose": { - "rotation": { - "radians": -2.2828580802251595 - }, - "translation": { - "x": -0.05763981391640782, - "y": 0.0867767333984375 - } - }, - "time": 3.2340723671528675, - "velocity": 0.8017046639991773 - }, - { - "acceleration": -2.0, - "curvature": 5.841092214253137, - "pose": { - "rotation": { - "radians": -2.200519405360358 - }, - "translation": { - "x": -0.06880256478701008, - "y": 0.07280622209821425 - } - }, - "time": 3.2570356450944873, - "velocity": 0.7557781081159377 - }, - { - "acceleration": -1.9999999999999925, - "curvature": 7.5722712875404525, - "pose": { - "rotation": { - "radians": -2.1471266820536137 - }, - "translation": { - "x": -0.07336317868727615, - "y": 0.06619943891252789 - } - }, - "time": 3.267811450649993, - "velocity": 0.7342264970049263 - }, - { - "acceleration": -1.999999999999996, - "curvature": 9.960064242378692, - "pose": { - "rotation": { - "radians": -2.082661298108728 - }, - "translation": { - "x": -0.07721388931695627, - "y": 0.05985586983816965 - } - }, - "time": 3.2780615616135376, - "velocity": 0.7137262750778367 - }, - { - "acceleration": -2.0, - "curvature": 13.261968099207715, - "pose": { - "rotation": { - "radians": -2.004145319849071 - }, - "translation": { - "x": -0.0803326499906285, - "y": 0.05378368922642296 - } - }, - "time": 3.287757559542795, - "velocity": 0.6943342792193219 - }, - { - "acceleration": -1.999999999999991, - "curvature": 15.349391948059386, - "pose": { - "rotation": { - "radians": -1.9584991400142493 - }, - "translation": { - "x": -0.08161065950476731, - "y": 0.05085192407880512 - } - }, - "time": 3.2923946835700995, - "velocity": 0.6850600311647128 - }, - { - "acceleration": -2.0000000000000093, - "curvature": 17.775613626621393, - "pose": { - "rotation": { - "radians": -1.9079248174526666 - }, - "translation": { - "x": -0.0826974140228709, - "y": 0.0479910714285714 - } - }, - "time": 3.2968914182980864, - "velocity": 0.6760665617087386 - }, - { - "acceleration": -2.0, - "curvature": 20.564297760595316, - "pose": { - "rotation": { - "radians": -1.8519014546201613 - }, - "translation": { - "x": -0.08359015770926148, - "y": 0.04520215306963238 - } - }, - "time": 3.3012509375882564, - "velocity": 0.6673475231283984 - }, - { - "acceleration": -2.00000000000001, - "curvature": 23.715608877026085, - "pose": { - "rotation": { - "radians": -1.7899311131774183 - }, - "translation": { - "x": -0.0842861347282613, - "y": 0.04248619079589844 - } - }, - "time": 3.3054790115582726, - "velocity": 0.6588913751883662 - }, - { - "acceleration": -2.0, - "curvature": 27.189129255565305, - "pose": { - "rotation": { - "radians": -1.7215918215799086 - }, - "translation": { - "x": -0.08478258924419291, - "y": 0.03984420640127995 - } - }, - "time": 3.3095845125651975, - "velocity": 0.6506803731745161 - }, - { - "acceleration": -2.0, - "curvature": 30.883290083634527, - "pose": { - "rotation": { - "radians": -1.6466125428161849 - }, - "translation": { - "x": -0.08507676542137821, - "y": 0.0372772216796875 - } - }, - "time": 3.3135799450469086, - "velocity": 0.6426895082110943 - }, - { - "acceleration": -1.9999999999999771, - "curvature": 34.61643207697983, - "pose": { - "rotation": { - "radians": -1.5649684441271745 - }, - "translation": { - "x": -0.08516590742413976, - "y": 0.03478625842503141 - } - }, - "time": 3.317481959084308, - "velocity": 0.634885480136296 - }, - { - "acceleration": -2.0, - "curvature": 36.41673084842612, - "pose": { - "rotation": { - "radians": -1.5217325782212103 - }, - "translation": { - "x": -0.08513272941146222, - "y": 0.033569604158401434 - } - }, - "time": 3.3194048318552505, - "velocity": 0.6310397345944112 - }, - { - "acceleration": -2.0, - "curvature": 38.11965972183798, - "pose": { - "rotation": { - "radians": -1.4769856740539578 - }, - "translation": { - "x": -0.08504725941679958, - "y": 0.03237233843122206 - } - }, - "time": 3.3213127190597223, - "velocity": 0.6272239601854677 - }, - { - "acceleration": -1.9999999999999765, - "curvature": 39.680953596251996, - "pose": { - "rotation": { - "radians": -1.4308383360767607 - }, - "translation": { - "x": -0.08490915296069201, - "y": 0.031194588967731973 - } - }, - "time": 3.323209035685624, - "velocity": 0.6234313269336637 - }, - { - "acceleration": -1.9999999999999762, - "curvature": 41.05512178928634, - "pose": { - "rotation": { - "radians": -1.3834320579244794 - }, - "translation": { - "x": -0.08471806556368011, - "y": 0.03003648349217003 - } - }, - "time": 3.325097504530002, - "velocity": 0.6196543892449078 - }, - { - "acceleration": -1.999999999999976, - "curvature": 42.19798317269199, - "pose": { - "rotation": { - "radians": -1.3349387553534076 - }, - "translation": { - "x": -0.0844736527463037, - "y": 0.028898149728775024 - } - }, - "time": 3.326982150396034, - "velocity": 0.6158850975128444 - }, - { - "acceleration": -2.0, - "curvature": 43.0695549065878, - "pose": { - "rotation": { - "radians": -1.2855587029566669 - }, - "translation": { - "x": -0.08417557002910336, - "y": 0.027779715401785754 - } - }, - "time": 3.3288672891522357, - "velocity": 0.6121148200004412 - }, - { - "acceleration": -2.000000000000024, - "curvature": 43.63700751994001, - "pose": { - "rotation": { - "radians": -1.2355167832596736 - }, - "translation": { - "x": -0.08382347293261927, - "y": 0.026681308235441015 - } - }, - "time": 3.3307575117143924, - "velocity": 0.6083343748761276 - }, - { - "acceleration": -2.0, - "curvature": 43.877330084679706, - "pose": { - "rotation": { - "radians": -1.1850571236540008 - }, - "translation": { - "x": -0.0834170169773919, - "y": 0.025603055953979437 - } - }, - "time": 3.332657663350649, - "velocity": 0.604534071603615 - }, - { - "acceleration": -2.0, - "curvature": 43.77933999343348, - "pose": { - "rotation": { - "radians": -1.1344363808123417 - }, - "translation": { - "x": -0.08295585768396119, - "y": 0.02454508628164015 - } - }, - "time": 3.3345728190638066, - "velocity": 0.6007037601772995 - }, - { - "acceleration": -2.000000000000024, - "curvature": 43.34473637514813, - "pose": { - "rotation": { - "radians": -1.083916102572679 - }, - "translation": { - "x": -0.0824396505728675, - "y": 0.023507526942661783 - } - }, - "time": 3.3365082561315424, - "velocity": 0.5968328860418279 - }, - { - "acceleration": -1.9999999999999765, - "curvature": 42.588028498451074, - "pose": { - "rotation": { - "radians": -1.0337547208598437 - }, - "translation": { - "x": -0.08186805116465157, - "y": 0.02249050566128319 - } - }, - "time": 3.3384694251434603, - "velocity": 0.5929105480179918 - }, - { - "acceleration": -2.000000000000023, - "curvature": 41.53534355364406, - "pose": { - "rotation": { - "radians": -0.9841997802056115 - }, - "translation": { - "x": -0.08124071497985308, - "y": 0.021494150161743164 - } - }, - "time": 3.34046192102962, - "velocity": 0.5889255562456722 - }, - { - "acceleration": -2.000000000000023, - "curvature": 40.22229122406194, - "pose": { - "rotation": { - "radians": -0.935480973766528 - }, - "translation": { - "x": -0.08055729753901275, - "y": 0.020518588168280505 - } - }, - "time": 3.3424914556093235, - "velocity": 0.5848664870862655 - }, - { - "acceleration": -1.9999999999999774, - "curvature": 38.69119447654324, - "pose": { - "rotation": { - "radians": -0.887804449537211 - }, - "translation": { - "x": -0.07981745436267063, - "y": 0.019563947405134008 - } - }, - "time": 3.3445638331015197, - "velocity": 0.5807217321018726 - }, - { - "acceleration": -1.9999999999999778, - "curvature": 36.98805943666322, - "pose": { - "rotation": { - "radians": -0.8413486868007395 - }, - "translation": { - "x": -0.07902084097136686, - "y": 0.018630355596542303 - } - }, - "time": 3.3466849298480974, - "velocity": 0.5764795386087174 - }, - { - "acceleration": -1.9999999999999891, - "curvature": 35.15964570660894, - "pose": { - "rotation": { - "radians": -0.7962620588663976 - }, - "translation": { - "x": -0.07816711288564204, - "y": 0.01771794046674452 - } - }, - "time": 3.348860679241734, - "velocity": 0.5721280398214441 - }, - { - "acceleration": -2.00000000000001, - "curvature": 31.303118282225007, - "pose": { - "rotation": { - "radians": -0.7106357578709402 - }, - "translation": { - "x": -0.07628693471309012, - "y": 0.01595715114048546 - } - }, - "time": 3.3533990574136796, - "velocity": 0.5630512834775531 - }, - { - "acceleration": -1.9999999999999902, - "curvature": 27.428995177461147, - "pose": { - "rotation": { - "radians": -0.6315132855442873 - }, - "translation": { - "x": -0.07417416400933685, - "y": 0.0142826012202672 - } - }, - "time": 3.3582285130328335, - "velocity": 0.5533923722392453 - }, - { - "acceleration": -2.0, - "curvature": 23.75624189265796, - "pose": { - "rotation": { - "radians": -0.5590722011057767 - }, - "translation": { - "x": -0.07182604493870459, - "y": 0.012695312499999944 - } - }, - "time": 3.363398460204786, - "velocity": 0.5430524778953406 - }, - { - "acceleration": -1.9999999999999911, - "curvature": 20.414249721574574, - "pose": { - "rotation": { - "radians": -0.4931797061696271 - }, - "translation": { - "x": -0.06923982166551546, - "y": 0.0111963067735944 - } - }, - "time": 3.36895993414091, - "velocity": 0.5319295300230922 - }, - { - "acceleration": -1.9999999999999918, - "curvature": 17.459934497401907, - "pose": { - "rotation": { - "radians": -0.4334957798412308 - }, - "translation": { - "x": -0.06641273835409178, - "y": 0.009786605834960938 - } - }, - "time": 3.374966631861679, - "velocity": 0.5199161345815548 - }, - { - "acceleration": -2.0, - "curvature": 14.9001811661835, - "pose": { - "rotation": { - "radians": -0.3795612382681966 - }, - "translation": { - "x": -0.0633420391687558, - "y": 0.008467231478009984 - } - }, - "time": 3.381476380148027, - "velocity": 0.5068966380088588 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 12.711979997378924, - "pose": { - "rotation": { - "radians": -0.33086402033744416 - }, - "translation": { - "x": -0.06002496827382975, - "y": 0.007239205496651802 - } - }, - "time": 3.388553109477197, - "velocity": 0.4927431793505188 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 9.293401276465811, - "pose": { - "rotation": { - "radians": -0.2471227409523188 - }, - "translation": { - "x": -0.052640688012496994, - "y": 0.005061285836356011 - } - }, - "time": 3.4047069789966478, - "velocity": 0.46043544031161765 - }, - { - "acceleration": -2.0000000000000013, - "curvature": 6.87086543118763, - "pose": { - "rotation": { - "radians": -0.17844137117241632 - }, - "translation": { - "x": -0.04423785088467114, - "y": 0.0032610212053570953 - } - }, - "time": 3.424195782221518, - "velocity": 0.42145783386187696 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 5.153442078046409, - "pose": { - "rotation": { - "radians": -0.1216295798723478 - }, - "translation": { - "x": -0.03479441020493046, - "y": 0.0018465859549386399 - } - }, - "time": 3.4482220037806184, - "velocity": 0.37340539074367585 - }, - { - "acceleration": -1.9999999999999998, - "curvature": 3.9250768863984966, - "pose": { - "rotation": { - "radians": -0.07417082549076627 - }, - "translation": { - "x": -0.02428831928785291, - "y": 0.0008261544363838969 - } - }, - "time": 3.479032538249631, - "velocity": 0.31178432180564974 - }, - { - "acceleration": -1.9999999999999998, - "curvature": 2.3809523809523805, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 0.0, - "y": 0.0 - } - }, - "time": 3.634924699152456, - "velocity": 0.0 - } - ] -} \ No newline at end of file diff --git a/autonomous/routines/routine_2/trajectory_1.json b/autonomous/routines/routine_2/trajectory_1.json deleted file mode 100644 index 7c74cea..0000000 --- a/autonomous/routines/routine_2/trajectory_1.json +++ /dev/null @@ -1,857 +0,0 @@ -[ - { - "acceleration":2.0000000000000004, - "curvature":2.3809523809523814, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":0.0, - "y":0.0 - } - }, - "time":0.0, - "velocity":0.0 - }, - { - "acceleration":2.000000000000001, - "curvature":2.595325966847042, - "pose":{ - "rotation":{ - "radians":0.06460283167616494 - }, - "translation":{ - "x":0.025940628160620836, - "y":0.0008261544363839286 - } - }, - "time":0.1611017705266734, - "velocity":0.32220354105334686 - }, - { - "acceleration":1.999999999999999, - "curvature":2.787492742305355, - "pose":{ - "rotation":{ - "radians":0.13177918578963022 - }, - "translation":{ - "x":0.05075989329538541, - "y":0.003261021205357143 - } - }, - "time":0.22559298431162372, - "velocity":0.45118596862324756 - }, - { - "acceleration":2.0, - "curvature":2.9449252494021136, - "pose":{ - "rotation":{ - "radians":0.20086675304867105 - }, - "translation":{ - "x":0.07450337926713341, - "y":0.007239205496651787 - } - }, - "time":0.27380037105598976, - "velocity":0.5476007421119795 - }, - { - "acceleration":2.0000000000000013, - "curvature":3.0563610293310313, - "pose":{ - "rotation":{ - "radians":0.271067404114427 - }, - "translation":{ - "x":0.09721666993870451, - "y":0.0126953125 - } - }, - "time":0.3135698756503563, - "velocity":0.6271397513007126 - }, - { - "acceleration":2.0000000000000013, - "curvature":3.1135922042633504, - "pose":{ - "rotation":{ - "radians":0.34148963883778916 - }, - "translation":{ - "x":0.11894534917293839, - "y":0.01956394740513393 - } - }, - "time":0.34801511627663584, - "velocity":0.6960302325532717 - }, - { - "acceleration":2.0, - "curvature":3.112845373687687, - "pose":{ - "rotation":{ - "radians":0.4112057410202867 - }, - "translation":{ - "x":0.13973500083267476, - "y":0.02777971540178572 - } - }, - "time":0.3787725979355451, - "velocity":0.7575451958710901 - }, - { - "acceleration":2.0, - "curvature":3.055332259900253, - "pose":{ - "rotation":{ - "radians":0.4793147718377678 - }, - "translation":{ - "x":0.15963120878075332, - "y":0.0372772216796875 - } - }, - "time":0.4068359476982932, - "velocity":0.8136718953965864 - }, - { - "acceleration":2.0, - "curvature":2.9468175976334776, - "pose":{ - "rotation":{ - "radians":0.5450007702314661 - }, - "translation":{ - "x":0.1786795568800137, - "y":0.04799107142857143 - } - }, - "time":0.43286273556068766, - "velocity":0.8657254711213753 - }, - { - "acceleration":2.0000000000000027, - "curvature":2.796384020129445, - "pose":{ - "rotation":{ - "radians":0.6075769725261475 - }, - "translation":{ - "x":0.19692562899329563, - "y":0.059855869838169644 - } - }, - "time":0.45731239630972664, - "velocity":0.9146247926194533 - }, - { - "acceleration":1.749932129781575, - "curvature":2.6148056057208007, - "pose":{ - "rotation":{ - "radians":0.666510847769103 - }, - "translation":{ - "x":0.21441500898343874, - "y":0.07280622209821429 - } - }, - "time":0.48051717108354774, - "velocity":0.9610343421670956 - }, - { - "acceleration":0.0, - "curvature":2.4129782382963043, - "pose":{ - "rotation":{ - "radians":0.7214295479787702 - }, - "translation":{ - "x":0.23119328071328277, - "y":0.0867767333984375 - } - }, - "time":0.5027841248526451, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":2.2007240886301007, - "pose":{ - "rotation":{ - "radians":0.7721092401780296 - }, - "translation":{ - "x":0.24730602804566743, - "y":0.10170200892857144 - } - }, - "time":0.524747377713906, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.9860923592042752, - "pose":{ - "rotation":{ - "radians":0.8184537703343066 - }, - "translation":{ - "x":0.26279883484343236, - "y":0.11751665387834821 - } - }, - "time":0.5468862588365004, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.7751158042945765, - "pose":{ - "rotation":{ - "radians":0.8604682380066073 - }, - "translation":{ - "x":0.2777172849694172, - "y":0.1341552734375 - } - }, - "time":0.5692336035332577, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.378877735802265, - "pose":{ - "rotation":{ - "radians":0.9318738882940065 - }, - "translation":{ - "x":0.3060134506574056, - "y":0.16964285714285715 - } - }, - "time":0.6146212845699313, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":1.0269790123916365, - "pose":{ - "rotation":{ - "radians":0.9874352146007722 - }, - "translation":{ - "x":0.33255919601235007, - "y":0.2076416015625 - } - }, - "time":0.6609740749273509, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.7184011472705635, - "pose":{ - "rotation":{ - "radians":1.028489463266511 - }, - "translation":{ - "x":0.357719191936968, - "y":0.24762834821428573 - } - }, - "time":0.7082177549567569, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.1930851987713053, - "pose":{ - "rotation":{ - "radians":1.0716201459130537 - }, - "translation":{ - "x":0.40534061910609465, - "y":0.3314732142857143 - } - }, - "time":0.8046426578198671, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2916630807647434, - "pose":{ - "rotation":{ - "radians":1.0669149846908788 - }, - "translation":{ - "x":0.4517950993865254, - "y":0.41699218749999994 - } - }, - "time":0.9019643589853864, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.837092751266262, - "pose":{ - "rotation":{ - "radians":1.0137255642722038 - }, - "translation":{ - "x":0.5, - "y":0.5 - } - }, - "time":0.9979539906087557, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.800067132725784, - "pose":{ - "rotation":{ - "radians":0.9371365584178165 - }, - "translation":{ - "x":0.5522892147239105, - "y":0.5771484375 - } - }, - "time":1.0911529358020067, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.7305970666123351, - "pose":{ - "rotation":{ - "radians":0.8673303065438499 - }, - "translation":{ - "x":0.6086627435582567, - "y":0.6484375 - } - }, - "time":1.1820380566159538, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.6353268212231772, - "pose":{ - "rotation":{ - "radians":0.8061523795916493 - }, - "translation":{ - "x":0.6685371130586908, - "y":0.7147042410714286 - } - }, - "time":1.2713477486728761, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.521996158571609, - "pose":{ - "rotation":{ - "radians":0.7549381802864602 - }, - "translation":{ - "x":0.7313288497808648, - "y":0.7767857142857143 - } - }, - "time":1.3596478705133521, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.3975528759100238, - "pose":{ - "rotation":{ - "radians":0.7145498145006239 - }, - "translation":{ - "x":0.7964544802804306, - "y":0.8355189732142857 - } - }, - "time":1.4473458947347484, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2671592856148399, - "pose":{ - "rotation":{ - "radians":0.6854795494256645 - }, - "translation":{ - "x":0.8633305311130404, - "y":0.8917410714285714 - } - }, - "time":1.5347148280153062, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.13405818704189948, - "pose":{ - "rotation":{ - "radians":0.6679716319317236 - }, - "translation":{ - "x":0.9313735288343461, - "y":0.9462890625 - } - }, - "time":1.6219233876228945, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.0, - "pose":{ - "rotation":{ - "radians":0.6621270389708964 - }, - "translation":{ - "x":0.9999999999999999, - "y":1.0 - } - }, - "time":1.7090695714279196, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.13405818704189962, - "pose":{ - "rotation":{ - "radians":0.6679716319317235 - }, - "translation":{ - "x":1.0686264711656537, - "y":1.0537109375 - } - }, - "time":1.7962157552329447, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.2671592856148402, - "pose":{ - "rotation":{ - "radians":0.6854795494256642 - }, - "translation":{ - "x":1.1366694688869594, - "y":1.1082589285714286 - } - }, - "time":1.883424314840533, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.3975528759100245, - "pose":{ - "rotation":{ - "radians":0.7145498145006239 - }, - "translation":{ - "x":1.2035455197195692, - "y":1.1644810267857144 - } - }, - "time":1.970793248121091, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.52199615857161, - "pose":{ - "rotation":{ - "radians":0.7549381802864603 - }, - "translation":{ - "x":1.2686711502191352, - "y":1.2232142857142858 - } - }, - "time":2.0584912723424873, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.6353268212231779, - "pose":{ - "rotation":{ - "radians":0.8061523795916495 - }, - "translation":{ - "x":1.3314628869413092, - "y":1.2852957589285716 - } - }, - "time":2.146791394182963, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.7305970666123357, - "pose":{ - "rotation":{ - "radians":0.8673303065438502 - }, - "translation":{ - "x":1.3913372564417432, - "y":1.3515625 - } - }, - "time":2.236101086239885, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.8000671327257849, - "pose":{ - "rotation":{ - "radians":0.937136558417817 - }, - "translation":{ - "x":1.4477107852760895, - "y":1.4228515625 - } - }, - "time":2.3269862070538325, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.8370927512662617, - "pose":{ - "rotation":{ - "radians":1.0137255642722043 - }, - "translation":{ - "x":1.5, - "y":1.5000000000000002 - } - }, - "time":2.420185152247084, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.2916630807647438, - "pose":{ - "rotation":{ - "radians":1.0669149846908788 - }, - "translation":{ - "x":1.5482049006134746, - "y":1.5830078125 - } - }, - "time":2.516174783870453, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.1930851987713047, - "pose":{ - "rotation":{ - "radians":1.0716201459130534 - }, - "translation":{ - "x":1.5946593808939054, - "y":1.6685267857142856 - } - }, - "time":2.6134964850359723, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.7184011472705635, - "pose":{ - "rotation":{ - "radians":1.028489463266511 - }, - "translation":{ - "x":1.642280808063032, - "y":1.7523716517857144 - } - }, - "time":2.7099213878990827, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.0269790123916358, - "pose":{ - "rotation":{ - "radians":0.9874352146007725 - }, - "translation":{ - "x":1.6674408039876498, - "y":1.7923583984375 - } - }, - "time":2.7571650679284883, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.378877735802265, - "pose":{ - "rotation":{ - "radians":0.9318738882940066 - }, - "translation":{ - "x":1.6939865493425943, - "y":1.8303571428571428 - } - }, - "time":2.803517858285908, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.7751158042945763, - "pose":{ - "rotation":{ - "radians":0.8604682380066074 - }, - "translation":{ - "x":1.7222827150305826, - "y":1.8658447265625 - } - }, - "time":2.8489055393225815, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-1.9860923592042752, - "pose":{ - "rotation":{ - "radians":0.8184537703343068 - }, - "translation":{ - "x":1.7372011651565675, - "y":1.882483346121652 - } - }, - "time":2.8712528840193388, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-2.2007240886301, - "pose":{ - "rotation":{ - "radians":0.7721092401780295 - }, - "translation":{ - "x":1.7526939719543324, - "y":1.8982979910714286 - } - }, - "time":2.893391765141933, - "velocity":1.0 - }, - { - "acceleration":-1.7499321297815522, - "curvature":-2.4129782382963048, - "pose":{ - "rotation":{ - "radians":0.7214295479787705 - }, - "translation":{ - "x":1.7688067192867172, - "y":1.9132232666015625 - } - }, - "time":2.915355018003194, - "velocity":1.0 - }, - { - "acceleration":-2.0000000000000027, - "curvature":-2.6148056057208007, - "pose":{ - "rotation":{ - "radians":0.6665108477691031 - }, - "translation":{ - "x":1.7855849910165613, - "y":1.9271937779017858 - } - }, - "time":2.9376219717722916, - "velocity":0.9610343421670957 - }, - { - "acceleration":-2.0, - "curvature":-2.796384020129447, - "pose":{ - "rotation":{ - "radians":0.6075769725261476 - }, - "translation":{ - "x":1.8030743710067043, - "y":1.9401441301618303 - } - }, - "time":2.9608267465461124, - "velocity":0.9146247926194542 - }, - { - "acceleration":-2.0, - "curvature":-2.946817597633479, - "pose":{ - "rotation":{ - "radians":0.5450007702314662 - }, - "translation":{ - "x":1.821320443119986, - "y":1.9520089285714286 - } - }, - "time":2.985276407295151, - "velocity":0.8657254711213762 - }, - { - "acceleration":-2.0000000000000027, - "curvature":-3.055332259900255, - "pose":{ - "rotation":{ - "radians":0.479314771837768 - }, - "translation":{ - "x":1.8403687912192466, - "y":1.9627227783203125 - } - }, - "time":3.011303195157546, - "velocity":0.8136718953965866 - }, - { - "acceleration":-2.0, - "curvature":-3.1128453736876884, - "pose":{ - "rotation":{ - "radians":0.41120574102028656 - }, - "translation":{ - "x":1.8602649991673252, - "y":1.9722202845982142 - } - }, - "time":3.0393665449202945, - "velocity":0.7575451958710898 - }, - { - "acceleration":-2.0000000000000013, - "curvature":-3.1135922042633504, - "pose":{ - "rotation":{ - "radians":0.34148963883778904 - }, - "translation":{ - "x":1.8810546508270616, - "y":1.9804360525948659 - } - }, - "time":3.070124026579204, - "velocity":0.696030232553271 - }, - { - "acceleration":-1.999999999999999, - "curvature":-3.056361029331032, - "pose":{ - "rotation":{ - "radians":0.27106740411442715 - }, - "translation":{ - "x":1.9027833300612955, - "y":1.9873046875 - } - }, - "time":3.1045692672054837, - "velocity":0.6271397513007115 - }, - { - "acceleration":-2.0, - "curvature":-2.9449252494021136, - "pose":{ - "rotation":{ - "radians":0.20086675304867097 - }, - "translation":{ - "x":1.9254966207328665, - "y":1.992760794503348 - } - }, - "time":3.1443387717998506, - "velocity":0.547600742111978 - }, - { - "acceleration":-1.9999999999999998, - "curvature":-2.7874927423053566, - "pose":{ - "rotation":{ - "radians":0.13177918578963033 - }, - "translation":{ - "x":1.9492401067046146, - "y":1.9967389787946428 - } - }, - "time":3.1925461585442165, - "velocity":0.45118596862324617 - }, - { - "acceleration":-2.0000000000000004, - "curvature":-2.595325966847042, - "pose":{ - "rotation":{ - "radians":0.06460283167616503 - }, - "translation":{ - "x":1.974059371839379, - "y":1.999173845563616 - } - }, - "time":3.2570373723291666, - "velocity":0.3222035410533462 - }, - { - "acceleration":-2.0000000000000004, - "curvature":-2.380952380952382, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":2.0, - "y":2.0 - } - }, - "time":3.4181391428558396, - "velocity":0.0 - } - ] \ No newline at end of file diff --git a/autonomous/routines/routine_2/trajectory_2.json b/autonomous/routines/routine_2/trajectory_2.json deleted file mode 100644 index 6f93e84..0000000 --- a/autonomous/routines/routine_2/trajectory_2.json +++ /dev/null @@ -1,1787 +0,0 @@ -[ - { - "acceleration":2.0, - "curvature":-2.3809523809523814, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":2.0, - "y":2.0 - } - }, - "time":0.0, - "velocity":0.0 - }, - { - "acceleration":2.0, - "curvature":-3.925076886398501, - "pose":{ - "rotation":{ - "radians":-0.07417082549076623 - }, - "translation":{ - "x":2.024288319287853, - "y":1.999173845563616 - } - }, - "time":0.1558921609028255, - "velocity":0.311784321805651 - }, - { - "acceleration":2.0, - "curvature":-5.153442078046409, - "pose":{ - "rotation":{ - "radians":-0.1216295798723478 - }, - "translation":{ - "x":2.0347944102049302, - "y":1.9981534140450614 - } - }, - "time":0.1867026953718375, - "velocity":0.373405390743675 - }, - { - "acceleration":2.0, - "curvature":-6.870865431187638, - "pose":{ - "rotation":{ - "radians":-0.17844137117241632 - }, - "translation":{ - "x":2.044237850884671, - "y":1.9967389787946428 - } - }, - "time":0.210728916930938, - "velocity":0.421457833861876 - }, - { - "acceleration":2.0, - "curvature":-9.293401276465815, - "pose":{ - "rotation":{ - "radians":-0.24712274095231881 - }, - "translation":{ - "x":2.052640688012497, - "y":1.9949387141636439 - } - }, - "time":0.23021772015580907, - "velocity":0.46043544031161815 - }, - { - "acceleration":2.0, - "curvature":-12.711979997378936, - "pose":{ - "rotation":{ - "radians":-0.33086402033744444 - }, - "translation":{ - "x":2.06002496827383, - "y":1.9927607945033483 - } - }, - "time":0.24637158967525977, - "velocity":0.49274317935051953 - }, - { - "acceleration":1.9999999999999918, - "curvature":-14.900181166183526, - "pose":{ - "rotation":{ - "radians":-0.379561238268197 - }, - "translation":{ - "x":2.063342039168756, - "y":1.9915327685219901 - } - }, - "time":0.25344831900442966, - "velocity":0.5068966380088593 - }, - { - "acceleration":2.0, - "curvature":-17.459934497401925, - "pose":{ - "rotation":{ - "radians":-0.4334957798412309 - }, - "translation":{ - "x":2.066412738354092, - "y":1.990213394165039 - } - }, - "time":0.25995806729077736, - "velocity":0.5199161345815547 - }, - { - "acceleration":1.9999999999999907, - "curvature":-20.414249721574603, - "pose":{ - "rotation":{ - "radians":-0.49317970616962725 - }, - "translation":{ - "x":2.0692398216655152, - "y":1.9888036932264055 - } - }, - "time":0.26596476501154587, - "velocity":0.5319295300230917 - }, - { - "acceleration":2.0, - "curvature":-23.75624189265799, - "pose":{ - "rotation":{ - "radians":-0.5590722011057766 - }, - "translation":{ - "x":2.0718260449387045, - "y":1.9873046875 - } - }, - "time":0.27152623894767053, - "velocity":0.5430524778953411 - }, - { - "acceleration":1.9999999999999898, - "curvature":-27.428995177461175, - "pose":{ - "rotation":{ - "radians":-0.6315132855442878 - }, - "translation":{ - "x":2.074174164009337, - "y":1.9857173987797327 - } - }, - "time":0.2766961861196231, - "velocity":0.5533923722392462 - }, - { - "acceleration":2.0, - "curvature":-31.303118282225075, - "pose":{ - "rotation":{ - "radians":-0.7106357578709409 - }, - "translation":{ - "x":2.07628693471309, - "y":1.9840428488595145 - } - }, - "time":0.2815256417387766, - "velocity":0.5630512834775532 - }, - { - "acceleration":2.000000000000022, - "curvature":-35.159645706609, - "pose":{ - "rotation":{ - "radians":-0.7962620588663979 - }, - "translation":{ - "x":2.0781671128856423, - "y":1.9822820595332555 - } - }, - "time":0.2860640199107224, - "velocity":0.5721280398214448 - }, - { - "acceleration":2.0, - "curvature":-36.988059436663285, - "pose":{ - "rotation":{ - "radians":-0.8413486868007399 - }, - "translation":{ - "x":2.079020840971367, - "y":1.9813696444034576 - } - }, - "time":0.2882397693043589, - "velocity":0.5764795386087178 - }, - { - "acceleration":1.9999999999999771, - "curvature":-38.6911944765433, - "pose":{ - "rotation":{ - "radians":-0.8878044495372119 - }, - "translation":{ - "x":2.0798174543626704, - "y":1.980436052594866 - } - }, - "time":0.2903608660509362, - "velocity":0.5807217321018724 - }, - { - "acceleration":2.000000000000023, - "curvature":-40.22229122406195, - "pose":{ - "rotation":{ - "radians":-0.9354809737665283 - }, - "translation":{ - "x":2.0805572975390128, - "y":1.9794814118317194 - } - }, - "time":0.2924332435431329, - "velocity":0.5848664870862658 - }, - { - "acceleration":1.9999999999999765, - "curvature":-41.535343553644125, - "pose":{ - "rotation":{ - "radians":-0.9841997802056122 - }, - "translation":{ - "x":2.0812407149798533, - "y":1.9785058498382568 - } - }, - "time":0.2944627781228363, - "velocity":0.5889255562456726 - }, - { - "acceleration":2.000000000000024, - "curvature":-42.588028498451095, - "pose":{ - "rotation":{ - "radians":-1.033754720859844 - }, - "translation":{ - "x":2.0818680511646517, - "y":1.9775094943387168 - } - }, - "time":0.29645527400899585, - "velocity":0.5929105480179917 - }, - { - "acceleration":2.0, - "curvature":-43.344736375148244, - "pose":{ - "rotation":{ - "radians":-1.0839161025726805 - }, - "translation":{ - "x":2.0824396505728675, - "y":1.976492473057338 - } - }, - "time":0.29841644302091386, - "velocity":0.5968328860418277 - }, - { - "acceleration":2.000000000000024, - "curvature":-43.77933999343355, - "pose":{ - "rotation":{ - "radians":-1.1344363808123423 - }, - "translation":{ - "x":2.0829558576839613, - "y":1.97545491371836 - } - }, - "time":0.30035188008864977, - "velocity":0.6007037601772995 - }, - { - "acceleration":1.999999999999976, - "curvature":-43.87733008467971, - "pose":{ - "rotation":{ - "radians":-1.1850571236540004 - }, - "translation":{ - "x":2.083417016977392, - "y":1.9743969440460205 - } - }, - "time":0.3022670358018074, - "velocity":0.6045340716036148 - }, - { - "acceleration":1.999999999999976, - "curvature":-43.637007519940035, - "pose":{ - "rotation":{ - "radians":-1.2355167832596747 - }, - "translation":{ - "x":2.0838234729326195, - "y":1.973318691764559 - } - }, - "time":0.30416718743806354, - "velocity":0.6083343748761271 - }, - { - "acceleration":2.0, - "curvature":-43.06955490658779, - "pose":{ - "rotation":{ - "radians":-1.2855587029566673 - }, - "translation":{ - "x":2.084175570029103, - "y":1.9722202845982142 - } - }, - "time":0.3060574100002201, - "velocity":0.6121148200004402 - }, - { - "acceleration":2.0, - "curvature":-42.197983172692034, - "pose":{ - "rotation":{ - "radians":-1.334938755353409 - }, - "translation":{ - "x":2.0844736527463037, - "y":1.971101850271225 - } - }, - "time":0.3079425487564216, - "velocity":0.6158850975128431 - }, - { - "acceleration":2.0, - "curvature":-41.0551217892863, - "pose":{ - "rotation":{ - "radians":-1.3834320579244797 - }, - "translation":{ - "x":2.08471806556368, - "y":1.96996351650783 - } - }, - "time":0.3098271946224532, - "velocity":0.6196543892449063 - }, - { - "acceleration":1.9999999999999767, - "curvature":-39.680953596252024, - "pose":{ - "rotation":{ - "radians":-1.4308383360767614 - }, - "translation":{ - "x":2.0849091529606922, - "y":1.968805411032268 - } - }, - "time":0.3117156634668311, - "velocity":0.6234313269336622 - }, - { - "acceleration":2.000000000000023, - "curvature":-38.11965972183801, - "pose":{ - "rotation":{ - "radians":-1.4769856740539584 - }, - "translation":{ - "x":2.0850472594167995, - "y":1.967627661568778 - } - }, - "time":0.31361198009273245, - "velocity":0.6272239601854649 - }, - { - "acceleration":2.0, - "curvature":-36.41673084842611, - "pose":{ - "rotation":{ - "radians":-1.5217325782212117 - }, - "translation":{ - "x":2.085132729411462, - "y":1.9664303958415985 - } - }, - "time":0.3155198672972044, - "velocity":0.6310397345944088 - }, - { - "acceleration":1.999999999999989, - "curvature":-34.61643207697982, - "pose":{ - "rotation":{ - "radians":-1.5649684441271747 - }, - "translation":{ - "x":2.0851659074241398, - "y":1.9652137415749686 - } - }, - "time":0.31744274006814643, - "velocity":0.6348854801362929 - }, - { - "acceleration":1.9999999999999893, - "curvature":-30.8832900836345, - "pose":{ - "rotation":{ - "radians":-1.646612542816186 - }, - "translation":{ - "x":2.085076765421378, - "y":1.9627227783203125 - } - }, - "time":0.3213447541055456, - "velocity":0.6426895082110912 - }, - { - "acceleration":2.0, - "curvature":-27.189129255565312, - "pose":{ - "rotation":{ - "radians":-1.721591821579909 - }, - "translation":{ - "x":2.084782589244193, - "y":1.96015579359872 - } - }, - "time":0.32534018658725694, - "velocity":0.6506803731745139 - }, - { - "acceleration":1.99999999999999, - "curvature":-23.715608877026064, - "pose":{ - "rotation":{ - "radians":-1.7899311131774194 - }, - "translation":{ - "x":2.0842861347282615, - "y":1.9575138092041016 - } - }, - "time":0.32944568759418175, - "velocity":0.6588913751883635 - }, - { - "acceleration":1.9999999999999905, - "curvature":-20.564297760595313, - "pose":{ - "rotation":{ - "radians":-1.8519014546201618 - }, - "translation":{ - "x":2.0835901577092613, - "y":1.9547978469303675 - } - }, - "time":0.33367376156419803, - "velocity":0.6673475231283961 - }, - { - "acceleration":2.000000000000009, - "curvature":-17.77561362662137, - "pose":{ - "rotation":{ - "radians":-1.9079248174526673 - }, - "translation":{ - "x":2.0826974140228707, - "y":1.9520089285714286 - } - }, - "time":0.33803328085436823, - "velocity":0.6760665617087365 - }, - { - "acceleration":1.9999999999999913, - "curvature":-15.34939194805936, - "pose":{ - "rotation":{ - "radians":-1.9584991400142502 - }, - "translation":{ - "x":2.081610659504767, - "y":1.949148075921195 - } - }, - "time":0.3425300155823549, - "velocity":0.6850600311647098 - }, - { - "acceleration":2.000000000000004, - "curvature":-13.261968099207705, - "pose":{ - "rotation":{ - "radians":-2.0041453198490715 - }, - "translation":{ - "x":2.0803326499906283, - "y":1.946216310773577 - } - }, - "time":0.3471671396096597, - "velocity":0.6943342792193195 - }, - { - "acceleration":2.0, - "curvature":-9.960064242378673, - "pose":{ - "rotation":{ - "radians":-2.0826612981087287 - }, - "translation":{ - "x":2.0772138893169565, - "y":1.9401441301618303 - } - }, - "time":0.35686313753891696, - "velocity":0.7137262750778339 - }, - { - "acceleration":2.0, - "curvature":-7.572271287540442, - "pose":{ - "rotation":{ - "radians":-2.1471266820536146 - }, - "translation":{ - "x":2.073363178687276, - "y":1.933800561087472 - } - }, - "time":0.36711324850246235, - "velocity":0.7342264970049247 - }, - { - "acceleration":2.0, - "curvature":-5.841092214253132, - "pose":{ - "rotation":{ - "radians":-2.2005194053603585 - }, - "translation":{ - "x":2.0688025647870103, - "y":1.9271937779017858 - } - }, - "time":0.3778890540579677, - "velocity":0.7557781081159354 - }, - { - "acceleration":2.0, - "curvature":-3.6335580164415155, - "pose":{ - "rotation":{ - "radians":-2.2828580802251603 - }, - "translation":{ - "x":2.0576398139164076, - "y":1.9132232666015625 - } - }, - "time":0.4008523319995877, - "velocity":0.8017046639991754 - }, - { - "acceleration":1.999999999999999, - "curvature":-2.3859297141582525, - "pose":{ - "rotation":{ - "radians":-2.3425427551974622 - }, - "translation":{ - "x":2.0439020101885244, - "y":1.8982979910714286 - } - }, - "time":0.4254031446723092, - "velocity":0.8508062893446184 - }, - { - "acceleration":0.7808367222958948, - "curvature":-1.168289411927801, - "pose":{ - "rotation":{ - "radians":-2.421478774741803 - }, - "translation":{ - "x":2.009406738094417, - "y":1.8658447265625 - } - }, - "time":0.47783848230722326, - "velocity":0.9556769646144465 - }, - { - "acceleration":0.0, - "curvature":-0.6431002814234164, - "pose":{ - "rotation":{ - "radians":-2.4696243980699735 - }, - "translation":{ - "x":1.9667277363716913, - "y":1.8303571428571428 - } - }, - "time":0.5346019952414388, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.3779012277135409, - "pose":{ - "rotation":{ - "radians":-2.5004899928645394 - }, - "translation":{ - "x":1.91727599288735, - "y":1.7923583984375 - } - }, - "time":0.5969668852927363, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.22532033615872268, - "pose":{ - "rotation":{ - "radians":-2.520473960338245 - }, - "translation":{ - "x":1.8624624955083964, - "y":1.7523716517857142 - } - }, - "time":0.6648156833860457, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.1259503451160458, - "pose":{ - "rotation":{ - "radians":-2.5328615989649164 - }, - "translation":{ - "x":1.803698232101834, - "y":1.7109200613839286 - } - }, - "time":0.7367286377166338, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.05185978219205503, - "pose":{ - "rotation":{ - "radians":-2.539376314483957 - }, - "translation":{ - "x":1.7423941905346658, - "y":1.6685267857142856 - } - }, - "time":0.8112630279970368, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.012741582075827209, - "pose":{ - "rotation":{ - "radians":-2.5408334253870972 - }, - "translation":{ - "x":1.679961358673895, - "y":1.6257149832589286 - } - }, - "time":0.8869644739781525, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.07962494904972009, - "pose":{ - "rotation":{ - "radians":-2.5374069641008212 - }, - "translation":{ - "x":1.617810724386525, - "y":1.5830078125 - } - }, - "time":0.9623740474854646, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.16149941110125976, - "pose":{ - "rotation":{ - "radians":-2.5286828834769617 - }, - "translation":{ - "x":1.557353275539559, - "y":1.5409284319196428 - } - }, - "time":1.0360339238844247, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.27767872853960485, - "pose":{ - "rotation":{ - "radians":-2.5135302822409846 - }, - "translation":{ - "x":1.4999999999999996, - "y":1.5 - } - }, - "time":1.1064933785694948, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.3190043061414333, - "pose":{ - "rotation":{ - "radians":-2.493845124623491 - }, - "translation":{ - "x":1.4468796880614505, - "y":1.4606410435267858 - } - }, - "time":1.172606123143511, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.3644631920280974, - "pose":{ - "rotation":{ - "radians":-2.4727646530940817 - }, - "translation":{ - "x":1.3979923397239105, - "y":1.4228515625 - } - }, - "time":1.2343962332239258, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.4641994068544357, - "pose":{ - "rotation":{ - "radians":-2.426610188308126 - }, - "translation":{ - "x":1.3117877435582568, - "y":1.3515625 - } - }, - "time":1.3462593765384794, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.5623714732537684, - "pose":{ - "rotation":{ - "radians":-2.376121674237115 - }, - "translation":{ - "x":1.2391286309158336, - "y":1.2852957589285714 - } - }, - "time":1.4445987258459265, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.6302381313589197, - "pose":{ - "rotation":{ - "radians":-2.3237592010084906 - }, - "translation":{ - "x":1.1777574212094364, - "y":1.2232142857142856 - } - }, - "time":1.5318943998354357, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.6275740592678156, - "pose":{ - "rotation":{ - "radians":-2.273676363647106 - }, - "translation":{ - "x":1.1254165338518594, - "y":1.1644810267857144 - } - }, - "time":1.6105656410468794, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.5184108857125409, - "pose":{ - "rotation":{ - "radians":-2.231450857835951 - }, - "translation":{ - "x":1.0798483882558978, - "y":1.1082589285714286 - } - }, - "time":1.68293538763115, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.29618604794063763, - "pose":{ - "rotation":{ - "radians":-2.203006515292095 - }, - "translation":{ - "x":1.0387954038343463, - "y":1.0537109375 - } - }, - "time":1.751205665643216, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":3.8924307326238546e-15, - "pose":{ - "rotation":{ - "radians":-2.1929446786425015 - }, - "translation":{ - "x":1.0000000000000002, - "y":1.0 - } - }, - "time":1.817462349576227, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2961860479406326, - "pose":{ - "rotation":{ - "radians":-2.203006515292096 - }, - "translation":{ - "x":0.9612045961656538, - "y":0.9462890625 - } - }, - "time":1.883719033509238, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.5184108857125374, - "pose":{ - "rotation":{ - "radians":-2.2314508578359513 - }, - "translation":{ - "x":0.9201516117441024, - "y":0.8917410714285714 - } - }, - "time":1.951989311521304, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.6275740592678127, - "pose":{ - "rotation":{ - "radians":-2.2736763636471062 - }, - "translation":{ - "x":0.8745834661481408, - "y":0.8355189732142857 - } - }, - "time":2.0243590581055746, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.6302381313589182, - "pose":{ - "rotation":{ - "radians":-2.3237592010084906 - }, - "translation":{ - "x":0.8222425787905638, - "y":0.7767857142857143 - } - }, - "time":2.1030302993170182, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.5623714732537682, - "pose":{ - "rotation":{ - "radians":-2.3761216742371145 - }, - "translation":{ - "x":0.7608713690841664, - "y":0.7147042410714286 - } - }, - "time":2.1903259733065275, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.4641994068544356, - "pose":{ - "rotation":{ - "radians":-2.426610188308126 - }, - "translation":{ - "x":0.6882122564417434, - "y":0.6484375 - } - }, - "time":2.2886653226139746, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.3644631920280975, - "pose":{ - "rotation":{ - "radians":-2.4727646530940817 - }, - "translation":{ - "x":0.6020076602760897, - "y":0.5771484375 - } - }, - "time":2.400528465928528, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.31900430614143327, - "pose":{ - "rotation":{ - "radians":-2.493845124623491 - }, - "translation":{ - "x":0.5531203119385497, - "y":0.5393589564732143 - } - }, - "time":2.462318576008943, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.2776787285396064, - "pose":{ - "rotation":{ - "radians":-2.513530282240984 - }, - "translation":{ - "x":0.5000000000000001, - "y":0.5 - } - }, - "time":2.52843132058296, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.16149941110126012, - "pose":{ - "rotation":{ - "radians":-2.5286828834769617 - }, - "translation":{ - "x":0.44264672446044084, - "y":0.45907156808035715 - } - }, - "time":2.59889077526803, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.07962494904972045, - "pose":{ - "rotation":{ - "radians":-2.537406964100821 - }, - "translation":{ - "x":0.3821892756134746, - "y":0.4169921875 - } - }, - "time":2.6725506516669904, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":-0.012741582075827595, - "pose":{ - "rotation":{ - "radians":-2.5408334253870968 - }, - "translation":{ - "x":0.32003864132610454, - "y":0.3742850167410714 - } - }, - "time":2.7479602251743023, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.05185978219205491, - "pose":{ - "rotation":{ - "radians":-2.539376314483957 - }, - "translation":{ - "x":0.25760580946533385, - "y":0.3314732142857143 - } - }, - "time":2.823661671155418, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.12595034511604572, - "pose":{ - "rotation":{ - "radians":-2.532861598964916 - }, - "translation":{ - "x":0.19630176789816578, - "y":0.28907993861607145 - } - }, - "time":2.898196061435821, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.22532033615872293, - "pose":{ - "rotation":{ - "radians":-2.5204739603382444 - }, - "translation":{ - "x":0.13753750449160335, - "y":0.2476283482142857 - } - }, - "time":2.970109015766409, - "velocity":1.0 - }, - { - "acceleration":0.0, - "curvature":0.37790122771354123, - "pose":{ - "rotation":{ - "radians":-2.500489992864539 - }, - "translation":{ - "x":0.08272400711264993, - "y":0.2076416015625 - } - }, - "time":3.0379578138597183, - "velocity":1.0 - }, - { - "acceleration":-0.7808367222958574, - "curvature":0.643100281423417, - "pose":{ - "rotation":{ - "radians":-2.469624398069973 - }, - "translation":{ - "x":0.03327226362830871, - "y":0.16964285714285715 - } - }, - "time":3.100322703911016, - "velocity":1.0 - }, - { - "acceleration":-2.0000000000000013, - "curvature":1.1682894119278024, - "pose":{ - "rotation":{ - "radians":-2.4214787747418027 - }, - "translation":{ - "x":-0.009406738094417166, - "y":0.1341552734375 - } - }, - "time":3.1570862168452316, - "velocity":0.9556769646144485 - }, - { - "acceleration":-1.9999999999999973, - "curvature":2.3859297141582556, - "pose":{ - "rotation":{ - "radians":-2.3425427551974622 - }, - "translation":{ - "x":-0.043902010188524576, - "y":0.10170200892857145 - } - }, - "time":3.209521554480146, - "velocity":0.8508062893446202 - }, - { - "acceleration":-2.0, - "curvature":3.6335580164415213, - "pose":{ - "rotation":{ - "radians":-2.2828580802251595 - }, - "translation":{ - "x":-0.05763981391640782, - "y":0.0867767333984375 - } - }, - "time":3.2340723671528675, - "velocity":0.8017046639991773 - }, - { - "acceleration":-2.0, - "curvature":5.841092214253137, - "pose":{ - "rotation":{ - "radians":-2.200519405360358 - }, - "translation":{ - "x":-0.06880256478701008, - "y":0.07280622209821425 - } - }, - "time":3.2570356450944873, - "velocity":0.7557781081159377 - }, - { - "acceleration":-1.9999999999999925, - "curvature":7.5722712875404525, - "pose":{ - "rotation":{ - "radians":-2.1471266820536137 - }, - "translation":{ - "x":-0.07336317868727615, - "y":0.06619943891252789 - } - }, - "time":3.267811450649993, - "velocity":0.7342264970049263 - }, - { - "acceleration":-1.999999999999996, - "curvature":9.960064242378692, - "pose":{ - "rotation":{ - "radians":-2.082661298108728 - }, - "translation":{ - "x":-0.07721388931695627, - "y":0.05985586983816965 - } - }, - "time":3.2780615616135376, - "velocity":0.7137262750778367 - }, - { - "acceleration":-2.0, - "curvature":13.261968099207715, - "pose":{ - "rotation":{ - "radians":-2.004145319849071 - }, - "translation":{ - "x":-0.0803326499906285, - "y":0.05378368922642296 - } - }, - "time":3.287757559542795, - "velocity":0.6943342792193219 - }, - { - "acceleration":-1.999999999999991, - "curvature":15.349391948059386, - "pose":{ - "rotation":{ - "radians":-1.9584991400142493 - }, - "translation":{ - "x":-0.08161065950476731, - "y":0.05085192407880512 - } - }, - "time":3.2923946835700995, - "velocity":0.6850600311647128 - }, - { - "acceleration":-2.0000000000000093, - "curvature":17.775613626621393, - "pose":{ - "rotation":{ - "radians":-1.9079248174526666 - }, - "translation":{ - "x":-0.0826974140228709, - "y":0.0479910714285714 - } - }, - "time":3.2968914182980864, - "velocity":0.6760665617087386 - }, - { - "acceleration":-2.0, - "curvature":20.564297760595316, - "pose":{ - "rotation":{ - "radians":-1.8519014546201613 - }, - "translation":{ - "x":-0.08359015770926148, - "y":0.04520215306963238 - } - }, - "time":3.3012509375882564, - "velocity":0.6673475231283984 - }, - { - "acceleration":-2.00000000000001, - "curvature":23.715608877026085, - "pose":{ - "rotation":{ - "radians":-1.7899311131774183 - }, - "translation":{ - "x":-0.0842861347282613, - "y":0.04248619079589844 - } - }, - "time":3.3054790115582726, - "velocity":0.6588913751883662 - }, - { - "acceleration":-2.0, - "curvature":27.189129255565305, - "pose":{ - "rotation":{ - "radians":-1.7215918215799086 - }, - "translation":{ - "x":-0.08478258924419291, - "y":0.03984420640127995 - } - }, - "time":3.3095845125651975, - "velocity":0.6506803731745161 - }, - { - "acceleration":-2.0, - "curvature":30.883290083634527, - "pose":{ - "rotation":{ - "radians":-1.6466125428161849 - }, - "translation":{ - "x":-0.08507676542137821, - "y":0.0372772216796875 - } - }, - "time":3.3135799450469086, - "velocity":0.6426895082110943 - }, - { - "acceleration":-1.9999999999999771, - "curvature":34.61643207697983, - "pose":{ - "rotation":{ - "radians":-1.5649684441271745 - }, - "translation":{ - "x":-0.08516590742413976, - "y":0.03478625842503141 - } - }, - "time":3.317481959084308, - "velocity":0.634885480136296 - }, - { - "acceleration":-2.0, - "curvature":36.41673084842612, - "pose":{ - "rotation":{ - "radians":-1.5217325782212103 - }, - "translation":{ - "x":-0.08513272941146222, - "y":0.033569604158401434 - } - }, - "time":3.3194048318552505, - "velocity":0.6310397345944112 - }, - { - "acceleration":-2.0, - "curvature":38.11965972183798, - "pose":{ - "rotation":{ - "radians":-1.4769856740539578 - }, - "translation":{ - "x":-0.08504725941679958, - "y":0.03237233843122206 - } - }, - "time":3.3213127190597223, - "velocity":0.6272239601854677 - }, - { - "acceleration":-1.9999999999999765, - "curvature":39.680953596251996, - "pose":{ - "rotation":{ - "radians":-1.4308383360767607 - }, - "translation":{ - "x":-0.08490915296069201, - "y":0.031194588967731973 - } - }, - "time":3.323209035685624, - "velocity":0.6234313269336637 - }, - { - "acceleration":-1.9999999999999762, - "curvature":41.05512178928634, - "pose":{ - "rotation":{ - "radians":-1.3834320579244794 - }, - "translation":{ - "x":-0.08471806556368011, - "y":0.03003648349217003 - } - }, - "time":3.325097504530002, - "velocity":0.6196543892449078 - }, - { - "acceleration":-1.999999999999976, - "curvature":42.19798317269199, - "pose":{ - "rotation":{ - "radians":-1.3349387553534076 - }, - "translation":{ - "x":-0.0844736527463037, - "y":0.028898149728775024 - } - }, - "time":3.326982150396034, - "velocity":0.6158850975128444 - }, - { - "acceleration":-2.0, - "curvature":43.0695549065878, - "pose":{ - "rotation":{ - "radians":-1.2855587029566669 - }, - "translation":{ - "x":-0.08417557002910336, - "y":0.027779715401785754 - } - }, - "time":3.3288672891522357, - "velocity":0.6121148200004412 - }, - { - "acceleration":-2.000000000000024, - "curvature":43.63700751994001, - "pose":{ - "rotation":{ - "radians":-1.2355167832596736 - }, - "translation":{ - "x":-0.08382347293261927, - "y":0.026681308235441015 - } - }, - "time":3.3307575117143924, - "velocity":0.6083343748761276 - }, - { - "acceleration":-2.0, - "curvature":43.877330084679706, - "pose":{ - "rotation":{ - "radians":-1.1850571236540008 - }, - "translation":{ - "x":-0.0834170169773919, - "y":0.025603055953979437 - } - }, - "time":3.332657663350649, - "velocity":0.604534071603615 - }, - { - "acceleration":-2.0, - "curvature":43.77933999343348, - "pose":{ - "rotation":{ - "radians":-1.1344363808123417 - }, - "translation":{ - "x":-0.08295585768396119, - "y":0.02454508628164015 - } - }, - "time":3.3345728190638066, - "velocity":0.6007037601772995 - }, - { - "acceleration":-2.000000000000024, - "curvature":43.34473637514813, - "pose":{ - "rotation":{ - "radians":-1.083916102572679 - }, - "translation":{ - "x":-0.0824396505728675, - "y":0.023507526942661783 - } - }, - "time":3.3365082561315424, - "velocity":0.5968328860418279 - }, - { - "acceleration":-1.9999999999999765, - "curvature":42.588028498451074, - "pose":{ - "rotation":{ - "radians":-1.0337547208598437 - }, - "translation":{ - "x":-0.08186805116465157, - "y":0.02249050566128319 - } - }, - "time":3.3384694251434603, - "velocity":0.5929105480179918 - }, - { - "acceleration":-2.000000000000023, - "curvature":41.53534355364406, - "pose":{ - "rotation":{ - "radians":-0.9841997802056115 - }, - "translation":{ - "x":-0.08124071497985308, - "y":0.021494150161743164 - } - }, - "time":3.34046192102962, - "velocity":0.5889255562456722 - }, - { - "acceleration":-2.000000000000023, - "curvature":40.22229122406194, - "pose":{ - "rotation":{ - "radians":-0.935480973766528 - }, - "translation":{ - "x":-0.08055729753901275, - "y":0.020518588168280505 - } - }, - "time":3.3424914556093235, - "velocity":0.5848664870862655 - }, - { - "acceleration":-1.9999999999999774, - "curvature":38.69119447654324, - "pose":{ - "rotation":{ - "radians":-0.887804449537211 - }, - "translation":{ - "x":-0.07981745436267063, - "y":0.019563947405134008 - } - }, - "time":3.3445638331015197, - "velocity":0.5807217321018726 - }, - { - "acceleration":-1.9999999999999778, - "curvature":36.98805943666322, - "pose":{ - "rotation":{ - "radians":-0.8413486868007395 - }, - "translation":{ - "x":-0.07902084097136686, - "y":0.018630355596542303 - } - }, - "time":3.3466849298480974, - "velocity":0.5764795386087174 - }, - { - "acceleration":-1.9999999999999891, - "curvature":35.15964570660894, - "pose":{ - "rotation":{ - "radians":-0.7962620588663976 - }, - "translation":{ - "x":-0.07816711288564204, - "y":0.01771794046674452 - } - }, - "time":3.348860679241734, - "velocity":0.5721280398214441 - }, - { - "acceleration":-2.00000000000001, - "curvature":31.303118282225007, - "pose":{ - "rotation":{ - "radians":-0.7106357578709402 - }, - "translation":{ - "x":-0.07628693471309012, - "y":0.01595715114048546 - } - }, - "time":3.3533990574136796, - "velocity":0.5630512834775531 - }, - { - "acceleration":-1.9999999999999902, - "curvature":27.428995177461147, - "pose":{ - "rotation":{ - "radians":-0.6315132855442873 - }, - "translation":{ - "x":-0.07417416400933685, - "y":0.0142826012202672 - } - }, - "time":3.3582285130328335, - "velocity":0.5533923722392453 - }, - { - "acceleration":-2.0, - "curvature":23.75624189265796, - "pose":{ - "rotation":{ - "radians":-0.5590722011057767 - }, - "translation":{ - "x":-0.07182604493870459, - "y":0.012695312499999944 - } - }, - "time":3.363398460204786, - "velocity":0.5430524778953406 - }, - { - "acceleration":-1.9999999999999911, - "curvature":20.414249721574574, - "pose":{ - "rotation":{ - "radians":-0.4931797061696271 - }, - "translation":{ - "x":-0.06923982166551546, - "y":0.0111963067735944 - } - }, - "time":3.36895993414091, - "velocity":0.5319295300230922 - }, - { - "acceleration":-1.9999999999999918, - "curvature":17.459934497401907, - "pose":{ - "rotation":{ - "radians":-0.4334957798412308 - }, - "translation":{ - "x":-0.06641273835409178, - "y":0.009786605834960938 - } - }, - "time":3.374966631861679, - "velocity":0.5199161345815548 - }, - { - "acceleration":-2.0, - "curvature":14.9001811661835, - "pose":{ - "rotation":{ - "radians":-0.3795612382681966 - }, - "translation":{ - "x":-0.0633420391687558, - "y":0.008467231478009984 - } - }, - "time":3.381476380148027, - "velocity":0.5068966380088588 - }, - { - "acceleration":-2.0000000000000018, - "curvature":12.711979997378924, - "pose":{ - "rotation":{ - "radians":-0.33086402033744416 - }, - "translation":{ - "x":-0.06002496827382975, - "y":0.007239205496651802 - } - }, - "time":3.388553109477197, - "velocity":0.4927431793505188 - }, - { - "acceleration":-2.0000000000000018, - "curvature":9.293401276465811, - "pose":{ - "rotation":{ - "radians":-0.2471227409523188 - }, - "translation":{ - "x":-0.052640688012496994, - "y":0.005061285836356011 - } - }, - "time":3.4047069789966478, - "velocity":0.46043544031161765 - }, - { - "acceleration":-2.0000000000000013, - "curvature":6.87086543118763, - "pose":{ - "rotation":{ - "radians":-0.17844137117241632 - }, - "translation":{ - "x":-0.04423785088467114, - "y":0.0032610212053570953 - } - }, - "time":3.424195782221518, - "velocity":0.42145783386187696 - }, - { - "acceleration":-2.0000000000000018, - "curvature":5.153442078046409, - "pose":{ - "rotation":{ - "radians":-0.1216295798723478 - }, - "translation":{ - "x":-0.03479441020493046, - "y":0.0018465859549386399 - } - }, - "time":3.4482220037806184, - "velocity":0.37340539074367585 - }, - { - "acceleration":-1.9999999999999998, - "curvature":3.9250768863984966, - "pose":{ - "rotation":{ - "radians":-0.07417082549076627 - }, - "translation":{ - "x":-0.02428831928785291, - "y":0.0008261544363838969 - } - }, - "time":3.479032538249631, - "velocity":0.31178432180564974 - }, - { - "acceleration":-1.9999999999999998, - "curvature":2.3809523809523805, - "pose":{ - "rotation":{ - "radians":0.0 - }, - "translation":{ - "x":0.0, - "y":0.0 - } - }, - "time":3.634924699152456, - "velocity":0.0 - } - ] \ No newline at end of file diff --git a/autonomous/trajectory.py b/autonomous/utils/path_planner.py similarity index 85% rename from autonomous/trajectory.py rename to autonomous/utils/path_planner.py index a6aa249..39e0528 100644 --- a/autonomous/trajectory.py +++ b/autonomous/utils/path_planner.py @@ -1,10 +1,12 @@ -import os import json +import os import tempfile + from wpimath.trajectory import TrajectoryUtil auto_folder_path = "./autonomous/routines/" + # combines trajectory files into one auto_routine.json file def combine_trajectory_json(routines): for routine in routines: @@ -26,19 +28,22 @@ def combine_trajectory_json(routines): path_number += 1 - with open(auto_folder_path + routine + "/auto_routine.json", "w") as auto_routine: + with open( + auto_folder_path + routine + "/auto_routine.json", "w" + ) as auto_routine: json.dump(output, auto_routine, indent=4) + # converts json to trajectories def get_trajectories(routine): trajectories = {} with open("./autonomous/routines/" + routine + "/auto_routine.json", "r") as file: auto_routine = json.load(file) - + for key, value in auto_routine.items(): - with tempfile.NamedTemporaryFile(mode='w', delete=False) as temp: + with tempfile.NamedTemporaryFile(mode="w", delete=False) as temp: temp.write(json.dumps(value)) trajectories[key] = TrajectoryUtil.fromPathweaverJson(temp.name) - return trajectories \ No newline at end of file + return trajectories From 685858bc5073c245157e3736f37cc21e3659e77c Mon Sep 17 00:00:00 2001 From: Ann Date: Sat, 4 Feb 2023 13:02:49 -0500 Subject: [PATCH 06/12] generated trajectories in path planner util --- autonomous/routines/basic_auto/basic_auto.py | 31 +- .../basic_auto/trajectories/trajectory_1.json | 857 -------- .../basic_auto/trajectories/trajectory_1.path | 128 ++ .../basic_auto/trajectories/trajectory_2.json | 1787 ----------------- autonomous/utils/path_planner.py | 73 +- simgui-window.json | 10 +- 6 files changed, 172 insertions(+), 2714 deletions(-) delete mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_1.json create mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_1.path delete mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_2.json diff --git a/autonomous/routines/basic_auto/basic_auto.py b/autonomous/routines/basic_auto/basic_auto.py index 6b66891..d8d6d67 100644 --- a/autonomous/routines/basic_auto/basic_auto.py +++ b/autonomous/routines/basic_auto/basic_auto.py @@ -6,35 +6,6 @@ import constants from autonomous.auto_routine import AutoRoutine from autonomous.utils.custom_pathing import FollowPathCustom -from autonomous.utils.path_planner import combine_trajectory_json, get_trajectories +from autonomous.utils.path_planner import generate_trajectories from robot_systems import Robot -# combines all trajectories in each routine into one auto_routine.json file -routines = ["routine_1", "routine_2"] -combine_trajectory_json(routines) - -# assuming this file is for routine_1, store all trajectories in a dict -trajectories = get_trajectories("routine_1") - -path_1 = FollowPathCustom( - Robot.drivetrain, - trajectories["trajectory_1"], - constants.period, -) - -path_2 = FollowPathCustom( - Robot.drivetrain, - trajectories["trajectory_2"], - constants.period, -) - -auto = SequentialCommandGroup( - InstantCommand(lambda: print(Robot.drivetrain.odometry.getPose())), - path_1, - InstantCommand(lambda: print(Robot.drivetrain.odometry.getPose())), - WaitCommand(2), - path_2, - InstantCommand(lambda: print(Robot.drivetrain.odometry.getPose())), -) - -routine = AutoRoutine(Pose2d(0, 0, math.radians(0)), auto) diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_1.json b/autonomous/routines/basic_auto/trajectories/trajectory_1.json deleted file mode 100644 index 257fb3a..0000000 --- a/autonomous/routines/basic_auto/trajectories/trajectory_1.json +++ /dev/null @@ -1,857 +0,0 @@ -[ - { - "acceleration": 2.0000000000000004, - "curvature": 2.3809523809523814, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 0.0, - "y": 0.0 - } - }, - "time": 0.0, - "velocity": 0.0 - }, - { - "acceleration": 2.000000000000001, - "curvature": 2.595325966847042, - "pose": { - "rotation": { - "radians": 0.06460283167616494 - }, - "translation": { - "x": 0.025940628160620836, - "y": 0.0008261544363839286 - } - }, - "time": 0.1611017705266734, - "velocity": 0.32220354105334686 - }, - { - "acceleration": 1.999999999999999, - "curvature": 2.787492742305355, - "pose": { - "rotation": { - "radians": 0.13177918578963022 - }, - "translation": { - "x": 0.05075989329538541, - "y": 0.003261021205357143 - } - }, - "time": 0.22559298431162372, - "velocity": 0.45118596862324756 - }, - { - "acceleration": 2.0, - "curvature": 2.9449252494021136, - "pose": { - "rotation": { - "radians": 0.20086675304867105 - }, - "translation": { - "x": 0.07450337926713341, - "y": 0.007239205496651787 - } - }, - "time": 0.27380037105598976, - "velocity": 0.5476007421119795 - }, - { - "acceleration": 2.0000000000000013, - "curvature": 3.0563610293310313, - "pose": { - "rotation": { - "radians": 0.271067404114427 - }, - "translation": { - "x": 0.09721666993870451, - "y": 0.0126953125 - } - }, - "time": 0.3135698756503563, - "velocity": 0.6271397513007126 - }, - { - "acceleration": 2.0000000000000013, - "curvature": 3.1135922042633504, - "pose": { - "rotation": { - "radians": 0.34148963883778916 - }, - "translation": { - "x": 0.11894534917293839, - "y": 0.01956394740513393 - } - }, - "time": 0.34801511627663584, - "velocity": 0.6960302325532717 - }, - { - "acceleration": 2.0, - "curvature": 3.112845373687687, - "pose": { - "rotation": { - "radians": 0.4112057410202867 - }, - "translation": { - "x": 0.13973500083267476, - "y": 0.02777971540178572 - } - }, - "time": 0.3787725979355451, - "velocity": 0.7575451958710901 - }, - { - "acceleration": 2.0, - "curvature": 3.055332259900253, - "pose": { - "rotation": { - "radians": 0.4793147718377678 - }, - "translation": { - "x": 0.15963120878075332, - "y": 0.0372772216796875 - } - }, - "time": 0.4068359476982932, - "velocity": 0.8136718953965864 - }, - { - "acceleration": 2.0, - "curvature": 2.9468175976334776, - "pose": { - "rotation": { - "radians": 0.5450007702314661 - }, - "translation": { - "x": 0.1786795568800137, - "y": 0.04799107142857143 - } - }, - "time": 0.43286273556068766, - "velocity": 0.8657254711213753 - }, - { - "acceleration": 2.0000000000000027, - "curvature": 2.796384020129445, - "pose": { - "rotation": { - "radians": 0.6075769725261475 - }, - "translation": { - "x": 0.19692562899329563, - "y": 0.059855869838169644 - } - }, - "time": 0.45731239630972664, - "velocity": 0.9146247926194533 - }, - { - "acceleration": 1.749932129781575, - "curvature": 2.6148056057208007, - "pose": { - "rotation": { - "radians": 0.666510847769103 - }, - "translation": { - "x": 0.21441500898343874, - "y": 0.07280622209821429 - } - }, - "time": 0.48051717108354774, - "velocity": 0.9610343421670956 - }, - { - "acceleration": 0.0, - "curvature": 2.4129782382963043, - "pose": { - "rotation": { - "radians": 0.7214295479787702 - }, - "translation": { - "x": 0.23119328071328277, - "y": 0.0867767333984375 - } - }, - "time": 0.5027841248526451, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 2.2007240886301007, - "pose": { - "rotation": { - "radians": 0.7721092401780296 - }, - "translation": { - "x": 0.24730602804566743, - "y": 0.10170200892857144 - } - }, - "time": 0.524747377713906, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.9860923592042752, - "pose": { - "rotation": { - "radians": 0.8184537703343066 - }, - "translation": { - "x": 0.26279883484343236, - "y": 0.11751665387834821 - } - }, - "time": 0.5468862588365004, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.7751158042945765, - "pose": { - "rotation": { - "radians": 0.8604682380066073 - }, - "translation": { - "x": 0.2777172849694172, - "y": 0.1341552734375 - } - }, - "time": 0.5692336035332577, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.378877735802265, - "pose": { - "rotation": { - "radians": 0.9318738882940065 - }, - "translation": { - "x": 0.3060134506574056, - "y": 0.16964285714285715 - } - }, - "time": 0.6146212845699313, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 1.0269790123916365, - "pose": { - "rotation": { - "radians": 0.9874352146007722 - }, - "translation": { - "x": 0.33255919601235007, - "y": 0.2076416015625 - } - }, - "time": 0.6609740749273509, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.7184011472705635, - "pose": { - "rotation": { - "radians": 1.028489463266511 - }, - "translation": { - "x": 0.357719191936968, - "y": 0.24762834821428573 - } - }, - "time": 0.7082177549567569, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.1930851987713053, - "pose": { - "rotation": { - "radians": 1.0716201459130537 - }, - "translation": { - "x": 0.40534061910609465, - "y": 0.3314732142857143 - } - }, - "time": 0.8046426578198671, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2916630807647434, - "pose": { - "rotation": { - "radians": 1.0669149846908788 - }, - "translation": { - "x": 0.4517950993865254, - "y": 0.41699218749999994 - } - }, - "time": 0.9019643589853864, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.837092751266262, - "pose": { - "rotation": { - "radians": 1.0137255642722038 - }, - "translation": { - "x": 0.5, - "y": 0.5 - } - }, - "time": 0.9979539906087557, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.800067132725784, - "pose": { - "rotation": { - "radians": 0.9371365584178165 - }, - "translation": { - "x": 0.5522892147239105, - "y": 0.5771484375 - } - }, - "time": 1.0911529358020067, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.7305970666123351, - "pose": { - "rotation": { - "radians": 0.8673303065438499 - }, - "translation": { - "x": 0.6086627435582567, - "y": 0.6484375 - } - }, - "time": 1.1820380566159538, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6353268212231772, - "pose": { - "rotation": { - "radians": 0.8061523795916493 - }, - "translation": { - "x": 0.6685371130586908, - "y": 0.7147042410714286 - } - }, - "time": 1.2713477486728761, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.521996158571609, - "pose": { - "rotation": { - "radians": 0.7549381802864602 - }, - "translation": { - "x": 0.7313288497808648, - "y": 0.7767857142857143 - } - }, - "time": 1.3596478705133521, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3975528759100238, - "pose": { - "rotation": { - "radians": 0.7145498145006239 - }, - "translation": { - "x": 0.7964544802804306, - "y": 0.8355189732142857 - } - }, - "time": 1.4473458947347484, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2671592856148399, - "pose": { - "rotation": { - "radians": 0.6854795494256645 - }, - "translation": { - "x": 0.8633305311130404, - "y": 0.8917410714285714 - } - }, - "time": 1.5347148280153062, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.13405818704189948, - "pose": { - "rotation": { - "radians": 0.6679716319317236 - }, - "translation": { - "x": 0.9313735288343461, - "y": 0.9462890625 - } - }, - "time": 1.6219233876228945, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.0, - "pose": { - "rotation": { - "radians": 0.6621270389708964 - }, - "translation": { - "x": 0.9999999999999999, - "y": 1.0 - } - }, - "time": 1.7090695714279196, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.13405818704189962, - "pose": { - "rotation": { - "radians": 0.6679716319317235 - }, - "translation": { - "x": 1.0686264711656537, - "y": 1.0537109375 - } - }, - "time": 1.7962157552329447, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.2671592856148402, - "pose": { - "rotation": { - "radians": 0.6854795494256642 - }, - "translation": { - "x": 1.1366694688869594, - "y": 1.1082589285714286 - } - }, - "time": 1.883424314840533, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3975528759100245, - "pose": { - "rotation": { - "radians": 0.7145498145006239 - }, - "translation": { - "x": 1.2035455197195692, - "y": 1.1644810267857144 - } - }, - "time": 1.970793248121091, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.52199615857161, - "pose": { - "rotation": { - "radians": 0.7549381802864603 - }, - "translation": { - "x": 1.2686711502191352, - "y": 1.2232142857142858 - } - }, - "time": 2.0584912723424873, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6353268212231779, - "pose": { - "rotation": { - "radians": 0.8061523795916495 - }, - "translation": { - "x": 1.3314628869413092, - "y": 1.2852957589285716 - } - }, - "time": 2.146791394182963, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.7305970666123357, - "pose": { - "rotation": { - "radians": 0.8673303065438502 - }, - "translation": { - "x": 1.3913372564417432, - "y": 1.3515625 - } - }, - "time": 2.236101086239885, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.8000671327257849, - "pose": { - "rotation": { - "radians": 0.937136558417817 - }, - "translation": { - "x": 1.4477107852760895, - "y": 1.4228515625 - } - }, - "time": 2.3269862070538325, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.8370927512662617, - "pose": { - "rotation": { - "radians": 1.0137255642722043 - }, - "translation": { - "x": 1.5, - "y": 1.5000000000000002 - } - }, - "time": 2.420185152247084, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.2916630807647438, - "pose": { - "rotation": { - "radians": 1.0669149846908788 - }, - "translation": { - "x": 1.5482049006134746, - "y": 1.5830078125 - } - }, - "time": 2.516174783870453, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.1930851987713047, - "pose": { - "rotation": { - "radians": 1.0716201459130534 - }, - "translation": { - "x": 1.5946593808939054, - "y": 1.6685267857142856 - } - }, - "time": 2.6134964850359723, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.7184011472705635, - "pose": { - "rotation": { - "radians": 1.028489463266511 - }, - "translation": { - "x": 1.642280808063032, - "y": 1.7523716517857144 - } - }, - "time": 2.7099213878990827, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.0269790123916358, - "pose": { - "rotation": { - "radians": 0.9874352146007725 - }, - "translation": { - "x": 1.6674408039876498, - "y": 1.7923583984375 - } - }, - "time": 2.7571650679284883, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.378877735802265, - "pose": { - "rotation": { - "radians": 0.9318738882940066 - }, - "translation": { - "x": 1.6939865493425943, - "y": 1.8303571428571428 - } - }, - "time": 2.803517858285908, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.7751158042945763, - "pose": { - "rotation": { - "radians": 0.8604682380066074 - }, - "translation": { - "x": 1.7222827150305826, - "y": 1.8658447265625 - } - }, - "time": 2.8489055393225815, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -1.9860923592042752, - "pose": { - "rotation": { - "radians": 0.8184537703343068 - }, - "translation": { - "x": 1.7372011651565675, - "y": 1.882483346121652 - } - }, - "time": 2.8712528840193388, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -2.2007240886301, - "pose": { - "rotation": { - "radians": 0.7721092401780295 - }, - "translation": { - "x": 1.7526939719543324, - "y": 1.8982979910714286 - } - }, - "time": 2.893391765141933, - "velocity": 1.0 - }, - { - "acceleration": -1.7499321297815522, - "curvature": -2.4129782382963048, - "pose": { - "rotation": { - "radians": 0.7214295479787705 - }, - "translation": { - "x": 1.7688067192867172, - "y": 1.9132232666015625 - } - }, - "time": 2.915355018003194, - "velocity": 1.0 - }, - { - "acceleration": -2.0000000000000027, - "curvature": -2.6148056057208007, - "pose": { - "rotation": { - "radians": 0.6665108477691031 - }, - "translation": { - "x": 1.7855849910165613, - "y": 1.9271937779017858 - } - }, - "time": 2.9376219717722916, - "velocity": 0.9610343421670957 - }, - { - "acceleration": -2.0, - "curvature": -2.796384020129447, - "pose": { - "rotation": { - "radians": 0.6075769725261476 - }, - "translation": { - "x": 1.8030743710067043, - "y": 1.9401441301618303 - } - }, - "time": 2.9608267465461124, - "velocity": 0.9146247926194542 - }, - { - "acceleration": -2.0, - "curvature": -2.946817597633479, - "pose": { - "rotation": { - "radians": 0.5450007702314662 - }, - "translation": { - "x": 1.821320443119986, - "y": 1.9520089285714286 - } - }, - "time": 2.985276407295151, - "velocity": 0.8657254711213762 - }, - { - "acceleration": -2.0000000000000027, - "curvature": -3.055332259900255, - "pose": { - "rotation": { - "radians": 0.479314771837768 - }, - "translation": { - "x": 1.8403687912192466, - "y": 1.9627227783203125 - } - }, - "time": 3.011303195157546, - "velocity": 0.8136718953965866 - }, - { - "acceleration": -2.0, - "curvature": -3.1128453736876884, - "pose": { - "rotation": { - "radians": 0.41120574102028656 - }, - "translation": { - "x": 1.8602649991673252, - "y": 1.9722202845982142 - } - }, - "time": 3.0393665449202945, - "velocity": 0.7575451958710898 - }, - { - "acceleration": -2.0000000000000013, - "curvature": -3.1135922042633504, - "pose": { - "rotation": { - "radians": 0.34148963883778904 - }, - "translation": { - "x": 1.8810546508270616, - "y": 1.9804360525948659 - } - }, - "time": 3.070124026579204, - "velocity": 0.696030232553271 - }, - { - "acceleration": -1.999999999999999, - "curvature": -3.056361029331032, - "pose": { - "rotation": { - "radians": 0.27106740411442715 - }, - "translation": { - "x": 1.9027833300612955, - "y": 1.9873046875 - } - }, - "time": 3.1045692672054837, - "velocity": 0.6271397513007115 - }, - { - "acceleration": -2.0, - "curvature": -2.9449252494021136, - "pose": { - "rotation": { - "radians": 0.20086675304867097 - }, - "translation": { - "x": 1.9254966207328665, - "y": 1.992760794503348 - } - }, - "time": 3.1443387717998506, - "velocity": 0.547600742111978 - }, - { - "acceleration": -1.9999999999999998, - "curvature": -2.7874927423053566, - "pose": { - "rotation": { - "radians": 0.13177918578963033 - }, - "translation": { - "x": 1.9492401067046146, - "y": 1.9967389787946428 - } - }, - "time": 3.1925461585442165, - "velocity": 0.45118596862324617 - }, - { - "acceleration": -2.0000000000000004, - "curvature": -2.595325966847042, - "pose": { - "rotation": { - "radians": 0.06460283167616503 - }, - "translation": { - "x": 1.974059371839379, - "y": 1.999173845563616 - } - }, - "time": 3.2570373723291666, - "velocity": 0.3222035410533462 - }, - { - "acceleration": -2.0000000000000004, - "curvature": -2.380952380952382, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 2.0, - "y": 2.0 - } - }, - "time": 3.4181391428558396, - "velocity": 0.0 - } -] diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_1.path b/autonomous/routines/basic_auto/trajectories/trajectory_1.path new file mode 100644 index 0000000..028bb41 --- /dev/null +++ b/autonomous/routines/basic_auto/trajectories/trajectory_1.path @@ -0,0 +1,128 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 0.0, + "y": 0.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.7420516744816386, + "y": 0.9887504163714477 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "START" + ], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 7.831012515095207, + "y": 2.4655667602179507 + }, + "prevControl": { + "x": 6.784610451047518, + "y": 2.4655667602179507 + }, + "nextControl": { + "x": 8.87741457914289, + "y": 2.4655667602179507 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 7.14692536841214, + "y": 6.230454824533553 + }, + "prevControl": { + "x": 10.227181817713419, + "y": 8.504787605826579 + }, + "nextControl": { + "x": 4.066668919110865, + "y": 3.956122043240523 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 4.374339149582905, + "y": 5.679168149728843 + }, + "prevControl": { + "x": 4.374339149582905, + "y": 4.679168149728843 + }, + "nextControl": { + "x": 4.374339149582905, + "y": 4.679168149728843 + }, + "holonomicAngle": 0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 2.5, + "y": 2.0 + }, + "prevControl": { + "x": 1.4448874394832913, + "y": 2.0 + }, + "nextControl": null, + "holonomicAngle": -114.25351410057554, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "STOP" + ], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_2.json b/autonomous/routines/basic_auto/trajectories/trajectory_2.json deleted file mode 100644 index 110c1e0..0000000 --- a/autonomous/routines/basic_auto/trajectories/trajectory_2.json +++ /dev/null @@ -1,1787 +0,0 @@ -[ - { - "acceleration": 2.0, - "curvature": -2.3809523809523814, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 2.0, - "y": 2.0 - } - }, - "time": 0.0, - "velocity": 0.0 - }, - { - "acceleration": 2.0, - "curvature": -3.925076886398501, - "pose": { - "rotation": { - "radians": -0.07417082549076623 - }, - "translation": { - "x": 2.024288319287853, - "y": 1.999173845563616 - } - }, - "time": 0.1558921609028255, - "velocity": 0.311784321805651 - }, - { - "acceleration": 2.0, - "curvature": -5.153442078046409, - "pose": { - "rotation": { - "radians": -0.1216295798723478 - }, - "translation": { - "x": 2.0347944102049302, - "y": 1.9981534140450614 - } - }, - "time": 0.1867026953718375, - "velocity": 0.373405390743675 - }, - { - "acceleration": 2.0, - "curvature": -6.870865431187638, - "pose": { - "rotation": { - "radians": -0.17844137117241632 - }, - "translation": { - "x": 2.044237850884671, - "y": 1.9967389787946428 - } - }, - "time": 0.210728916930938, - "velocity": 0.421457833861876 - }, - { - "acceleration": 2.0, - "curvature": -9.293401276465815, - "pose": { - "rotation": { - "radians": -0.24712274095231881 - }, - "translation": { - "x": 2.052640688012497, - "y": 1.9949387141636439 - } - }, - "time": 0.23021772015580907, - "velocity": 0.46043544031161815 - }, - { - "acceleration": 2.0, - "curvature": -12.711979997378936, - "pose": { - "rotation": { - "radians": -0.33086402033744444 - }, - "translation": { - "x": 2.06002496827383, - "y": 1.9927607945033483 - } - }, - "time": 0.24637158967525977, - "velocity": 0.49274317935051953 - }, - { - "acceleration": 1.9999999999999918, - "curvature": -14.900181166183526, - "pose": { - "rotation": { - "radians": -0.379561238268197 - }, - "translation": { - "x": 2.063342039168756, - "y": 1.9915327685219901 - } - }, - "time": 0.25344831900442966, - "velocity": 0.5068966380088593 - }, - { - "acceleration": 2.0, - "curvature": -17.459934497401925, - "pose": { - "rotation": { - "radians": -0.4334957798412309 - }, - "translation": { - "x": 2.066412738354092, - "y": 1.990213394165039 - } - }, - "time": 0.25995806729077736, - "velocity": 0.5199161345815547 - }, - { - "acceleration": 1.9999999999999907, - "curvature": -20.414249721574603, - "pose": { - "rotation": { - "radians": -0.49317970616962725 - }, - "translation": { - "x": 2.0692398216655152, - "y": 1.9888036932264055 - } - }, - "time": 0.26596476501154587, - "velocity": 0.5319295300230917 - }, - { - "acceleration": 2.0, - "curvature": -23.75624189265799, - "pose": { - "rotation": { - "radians": -0.5590722011057766 - }, - "translation": { - "x": 2.0718260449387045, - "y": 1.9873046875 - } - }, - "time": 0.27152623894767053, - "velocity": 0.5430524778953411 - }, - { - "acceleration": 1.9999999999999898, - "curvature": -27.428995177461175, - "pose": { - "rotation": { - "radians": -0.6315132855442878 - }, - "translation": { - "x": 2.074174164009337, - "y": 1.9857173987797327 - } - }, - "time": 0.2766961861196231, - "velocity": 0.5533923722392462 - }, - { - "acceleration": 2.0, - "curvature": -31.303118282225075, - "pose": { - "rotation": { - "radians": -0.7106357578709409 - }, - "translation": { - "x": 2.07628693471309, - "y": 1.9840428488595145 - } - }, - "time": 0.2815256417387766, - "velocity": 0.5630512834775532 - }, - { - "acceleration": 2.000000000000022, - "curvature": -35.159645706609, - "pose": { - "rotation": { - "radians": -0.7962620588663979 - }, - "translation": { - "x": 2.0781671128856423, - "y": 1.9822820595332555 - } - }, - "time": 0.2860640199107224, - "velocity": 0.5721280398214448 - }, - { - "acceleration": 2.0, - "curvature": -36.988059436663285, - "pose": { - "rotation": { - "radians": -0.8413486868007399 - }, - "translation": { - "x": 2.079020840971367, - "y": 1.9813696444034576 - } - }, - "time": 0.2882397693043589, - "velocity": 0.5764795386087178 - }, - { - "acceleration": 1.9999999999999771, - "curvature": -38.6911944765433, - "pose": { - "rotation": { - "radians": -0.8878044495372119 - }, - "translation": { - "x": 2.0798174543626704, - "y": 1.980436052594866 - } - }, - "time": 0.2903608660509362, - "velocity": 0.5807217321018724 - }, - { - "acceleration": 2.000000000000023, - "curvature": -40.22229122406195, - "pose": { - "rotation": { - "radians": -0.9354809737665283 - }, - "translation": { - "x": 2.0805572975390128, - "y": 1.9794814118317194 - } - }, - "time": 0.2924332435431329, - "velocity": 0.5848664870862658 - }, - { - "acceleration": 1.9999999999999765, - "curvature": -41.535343553644125, - "pose": { - "rotation": { - "radians": -0.9841997802056122 - }, - "translation": { - "x": 2.0812407149798533, - "y": 1.9785058498382568 - } - }, - "time": 0.2944627781228363, - "velocity": 0.5889255562456726 - }, - { - "acceleration": 2.000000000000024, - "curvature": -42.588028498451095, - "pose": { - "rotation": { - "radians": -1.033754720859844 - }, - "translation": { - "x": 2.0818680511646517, - "y": 1.9775094943387168 - } - }, - "time": 0.29645527400899585, - "velocity": 0.5929105480179917 - }, - { - "acceleration": 2.0, - "curvature": -43.344736375148244, - "pose": { - "rotation": { - "radians": -1.0839161025726805 - }, - "translation": { - "x": 2.0824396505728675, - "y": 1.976492473057338 - } - }, - "time": 0.29841644302091386, - "velocity": 0.5968328860418277 - }, - { - "acceleration": 2.000000000000024, - "curvature": -43.77933999343355, - "pose": { - "rotation": { - "radians": -1.1344363808123423 - }, - "translation": { - "x": 2.0829558576839613, - "y": 1.97545491371836 - } - }, - "time": 0.30035188008864977, - "velocity": 0.6007037601772995 - }, - { - "acceleration": 1.999999999999976, - "curvature": -43.87733008467971, - "pose": { - "rotation": { - "radians": -1.1850571236540004 - }, - "translation": { - "x": 2.083417016977392, - "y": 1.9743969440460205 - } - }, - "time": 0.3022670358018074, - "velocity": 0.6045340716036148 - }, - { - "acceleration": 1.999999999999976, - "curvature": -43.637007519940035, - "pose": { - "rotation": { - "radians": -1.2355167832596747 - }, - "translation": { - "x": 2.0838234729326195, - "y": 1.973318691764559 - } - }, - "time": 0.30416718743806354, - "velocity": 0.6083343748761271 - }, - { - "acceleration": 2.0, - "curvature": -43.06955490658779, - "pose": { - "rotation": { - "radians": -1.2855587029566673 - }, - "translation": { - "x": 2.084175570029103, - "y": 1.9722202845982142 - } - }, - "time": 0.3060574100002201, - "velocity": 0.6121148200004402 - }, - { - "acceleration": 2.0, - "curvature": -42.197983172692034, - "pose": { - "rotation": { - "radians": -1.334938755353409 - }, - "translation": { - "x": 2.0844736527463037, - "y": 1.971101850271225 - } - }, - "time": 0.3079425487564216, - "velocity": 0.6158850975128431 - }, - { - "acceleration": 2.0, - "curvature": -41.0551217892863, - "pose": { - "rotation": { - "radians": -1.3834320579244797 - }, - "translation": { - "x": 2.08471806556368, - "y": 1.96996351650783 - } - }, - "time": 0.3098271946224532, - "velocity": 0.6196543892449063 - }, - { - "acceleration": 1.9999999999999767, - "curvature": -39.680953596252024, - "pose": { - "rotation": { - "radians": -1.4308383360767614 - }, - "translation": { - "x": 2.0849091529606922, - "y": 1.968805411032268 - } - }, - "time": 0.3117156634668311, - "velocity": 0.6234313269336622 - }, - { - "acceleration": 2.000000000000023, - "curvature": -38.11965972183801, - "pose": { - "rotation": { - "radians": -1.4769856740539584 - }, - "translation": { - "x": 2.0850472594167995, - "y": 1.967627661568778 - } - }, - "time": 0.31361198009273245, - "velocity": 0.6272239601854649 - }, - { - "acceleration": 2.0, - "curvature": -36.41673084842611, - "pose": { - "rotation": { - "radians": -1.5217325782212117 - }, - "translation": { - "x": 2.085132729411462, - "y": 1.9664303958415985 - } - }, - "time": 0.3155198672972044, - "velocity": 0.6310397345944088 - }, - { - "acceleration": 1.999999999999989, - "curvature": -34.61643207697982, - "pose": { - "rotation": { - "radians": -1.5649684441271747 - }, - "translation": { - "x": 2.0851659074241398, - "y": 1.9652137415749686 - } - }, - "time": 0.31744274006814643, - "velocity": 0.6348854801362929 - }, - { - "acceleration": 1.9999999999999893, - "curvature": -30.8832900836345, - "pose": { - "rotation": { - "radians": -1.646612542816186 - }, - "translation": { - "x": 2.085076765421378, - "y": 1.9627227783203125 - } - }, - "time": 0.3213447541055456, - "velocity": 0.6426895082110912 - }, - { - "acceleration": 2.0, - "curvature": -27.189129255565312, - "pose": { - "rotation": { - "radians": -1.721591821579909 - }, - "translation": { - "x": 2.084782589244193, - "y": 1.96015579359872 - } - }, - "time": 0.32534018658725694, - "velocity": 0.6506803731745139 - }, - { - "acceleration": 1.99999999999999, - "curvature": -23.715608877026064, - "pose": { - "rotation": { - "radians": -1.7899311131774194 - }, - "translation": { - "x": 2.0842861347282615, - "y": 1.9575138092041016 - } - }, - "time": 0.32944568759418175, - "velocity": 0.6588913751883635 - }, - { - "acceleration": 1.9999999999999905, - "curvature": -20.564297760595313, - "pose": { - "rotation": { - "radians": -1.8519014546201618 - }, - "translation": { - "x": 2.0835901577092613, - "y": 1.9547978469303675 - } - }, - "time": 0.33367376156419803, - "velocity": 0.6673475231283961 - }, - { - "acceleration": 2.000000000000009, - "curvature": -17.77561362662137, - "pose": { - "rotation": { - "radians": -1.9079248174526673 - }, - "translation": { - "x": 2.0826974140228707, - "y": 1.9520089285714286 - } - }, - "time": 0.33803328085436823, - "velocity": 0.6760665617087365 - }, - { - "acceleration": 1.9999999999999913, - "curvature": -15.34939194805936, - "pose": { - "rotation": { - "radians": -1.9584991400142502 - }, - "translation": { - "x": 2.081610659504767, - "y": 1.949148075921195 - } - }, - "time": 0.3425300155823549, - "velocity": 0.6850600311647098 - }, - { - "acceleration": 2.000000000000004, - "curvature": -13.261968099207705, - "pose": { - "rotation": { - "radians": -2.0041453198490715 - }, - "translation": { - "x": 2.0803326499906283, - "y": 1.946216310773577 - } - }, - "time": 0.3471671396096597, - "velocity": 0.6943342792193195 - }, - { - "acceleration": 2.0, - "curvature": -9.960064242378673, - "pose": { - "rotation": { - "radians": -2.0826612981087287 - }, - "translation": { - "x": 2.0772138893169565, - "y": 1.9401441301618303 - } - }, - "time": 0.35686313753891696, - "velocity": 0.7137262750778339 - }, - { - "acceleration": 2.0, - "curvature": -7.572271287540442, - "pose": { - "rotation": { - "radians": -2.1471266820536146 - }, - "translation": { - "x": 2.073363178687276, - "y": 1.933800561087472 - } - }, - "time": 0.36711324850246235, - "velocity": 0.7342264970049247 - }, - { - "acceleration": 2.0, - "curvature": -5.841092214253132, - "pose": { - "rotation": { - "radians": -2.2005194053603585 - }, - "translation": { - "x": 2.0688025647870103, - "y": 1.9271937779017858 - } - }, - "time": 0.3778890540579677, - "velocity": 0.7557781081159354 - }, - { - "acceleration": 2.0, - "curvature": -3.6335580164415155, - "pose": { - "rotation": { - "radians": -2.2828580802251603 - }, - "translation": { - "x": 2.0576398139164076, - "y": 1.9132232666015625 - } - }, - "time": 0.4008523319995877, - "velocity": 0.8017046639991754 - }, - { - "acceleration": 1.999999999999999, - "curvature": -2.3859297141582525, - "pose": { - "rotation": { - "radians": -2.3425427551974622 - }, - "translation": { - "x": 2.0439020101885244, - "y": 1.8982979910714286 - } - }, - "time": 0.4254031446723092, - "velocity": 0.8508062893446184 - }, - { - "acceleration": 0.7808367222958948, - "curvature": -1.168289411927801, - "pose": { - "rotation": { - "radians": -2.421478774741803 - }, - "translation": { - "x": 2.009406738094417, - "y": 1.8658447265625 - } - }, - "time": 0.47783848230722326, - "velocity": 0.9556769646144465 - }, - { - "acceleration": 0.0, - "curvature": -0.6431002814234164, - "pose": { - "rotation": { - "radians": -2.4696243980699735 - }, - "translation": { - "x": 1.9667277363716913, - "y": 1.8303571428571428 - } - }, - "time": 0.5346019952414388, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3779012277135409, - "pose": { - "rotation": { - "radians": -2.5004899928645394 - }, - "translation": { - "x": 1.91727599288735, - "y": 1.7923583984375 - } - }, - "time": 0.5969668852927363, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.22532033615872268, - "pose": { - "rotation": { - "radians": -2.520473960338245 - }, - "translation": { - "x": 1.8624624955083964, - "y": 1.7523716517857142 - } - }, - "time": 0.6648156833860457, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.1259503451160458, - "pose": { - "rotation": { - "radians": -2.5328615989649164 - }, - "translation": { - "x": 1.803698232101834, - "y": 1.7109200613839286 - } - }, - "time": 0.7367286377166338, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.05185978219205503, - "pose": { - "rotation": { - "radians": -2.539376314483957 - }, - "translation": { - "x": 1.7423941905346658, - "y": 1.6685267857142856 - } - }, - "time": 0.8112630279970368, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.012741582075827209, - "pose": { - "rotation": { - "radians": -2.540833425387097 - }, - "translation": { - "x": 1.679961358673895, - "y": 1.6257149832589286 - } - }, - "time": 0.8869644739781525, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.07962494904972009, - "pose": { - "rotation": { - "radians": -2.5374069641008212 - }, - "translation": { - "x": 1.617810724386525, - "y": 1.5830078125 - } - }, - "time": 0.9623740474854646, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.16149941110125976, - "pose": { - "rotation": { - "radians": -2.5286828834769617 - }, - "translation": { - "x": 1.557353275539559, - "y": 1.5409284319196428 - } - }, - "time": 1.0360339238844247, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.27767872853960485, - "pose": { - "rotation": { - "radians": -2.5135302822409846 - }, - "translation": { - "x": 1.4999999999999996, - "y": 1.5 - } - }, - "time": 1.1064933785694948, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3190043061414333, - "pose": { - "rotation": { - "radians": -2.493845124623491 - }, - "translation": { - "x": 1.4468796880614505, - "y": 1.4606410435267858 - } - }, - "time": 1.172606123143511, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.3644631920280974, - "pose": { - "rotation": { - "radians": -2.4727646530940817 - }, - "translation": { - "x": 1.3979923397239105, - "y": 1.4228515625 - } - }, - "time": 1.2343962332239258, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.4641994068544357, - "pose": { - "rotation": { - "radians": -2.426610188308126 - }, - "translation": { - "x": 1.3117877435582568, - "y": 1.3515625 - } - }, - "time": 1.3462593765384794, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.5623714732537684, - "pose": { - "rotation": { - "radians": -2.376121674237115 - }, - "translation": { - "x": 1.2391286309158336, - "y": 1.2852957589285714 - } - }, - "time": 1.4445987258459265, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6302381313589197, - "pose": { - "rotation": { - "radians": -2.3237592010084906 - }, - "translation": { - "x": 1.1777574212094364, - "y": 1.2232142857142856 - } - }, - "time": 1.5318943998354357, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.6275740592678156, - "pose": { - "rotation": { - "radians": -2.273676363647106 - }, - "translation": { - "x": 1.1254165338518594, - "y": 1.1644810267857144 - } - }, - "time": 1.6105656410468794, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.5184108857125409, - "pose": { - "rotation": { - "radians": -2.231450857835951 - }, - "translation": { - "x": 1.0798483882558978, - "y": 1.1082589285714286 - } - }, - "time": 1.68293538763115, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.29618604794063763, - "pose": { - "rotation": { - "radians": -2.203006515292095 - }, - "translation": { - "x": 1.0387954038343463, - "y": 1.0537109375 - } - }, - "time": 1.751205665643216, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 3.8924307326238546e-15, - "pose": { - "rotation": { - "radians": -2.1929446786425015 - }, - "translation": { - "x": 1.0000000000000002, - "y": 1.0 - } - }, - "time": 1.817462349576227, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2961860479406326, - "pose": { - "rotation": { - "radians": -2.203006515292096 - }, - "translation": { - "x": 0.9612045961656538, - "y": 0.9462890625 - } - }, - "time": 1.883719033509238, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.5184108857125374, - "pose": { - "rotation": { - "radians": -2.2314508578359513 - }, - "translation": { - "x": 0.9201516117441024, - "y": 0.8917410714285714 - } - }, - "time": 1.951989311521304, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6275740592678127, - "pose": { - "rotation": { - "radians": -2.2736763636471062 - }, - "translation": { - "x": 0.8745834661481408, - "y": 0.8355189732142857 - } - }, - "time": 2.0243590581055746, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.6302381313589182, - "pose": { - "rotation": { - "radians": -2.3237592010084906 - }, - "translation": { - "x": 0.8222425787905638, - "y": 0.7767857142857143 - } - }, - "time": 2.1030302993170182, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.5623714732537682, - "pose": { - "rotation": { - "radians": -2.3761216742371145 - }, - "translation": { - "x": 0.7608713690841664, - "y": 0.7147042410714286 - } - }, - "time": 2.1903259733065275, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.4641994068544356, - "pose": { - "rotation": { - "radians": -2.426610188308126 - }, - "translation": { - "x": 0.6882122564417434, - "y": 0.6484375 - } - }, - "time": 2.2886653226139746, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.3644631920280975, - "pose": { - "rotation": { - "radians": -2.4727646530940817 - }, - "translation": { - "x": 0.6020076602760897, - "y": 0.5771484375 - } - }, - "time": 2.400528465928528, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.31900430614143327, - "pose": { - "rotation": { - "radians": -2.493845124623491 - }, - "translation": { - "x": 0.5531203119385497, - "y": 0.5393589564732143 - } - }, - "time": 2.462318576008943, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.2776787285396064, - "pose": { - "rotation": { - "radians": -2.513530282240984 - }, - "translation": { - "x": 0.5000000000000001, - "y": 0.5 - } - }, - "time": 2.52843132058296, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.16149941110126012, - "pose": { - "rotation": { - "radians": -2.5286828834769617 - }, - "translation": { - "x": 0.44264672446044084, - "y": 0.45907156808035715 - } - }, - "time": 2.59889077526803, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.07962494904972045, - "pose": { - "rotation": { - "radians": -2.537406964100821 - }, - "translation": { - "x": 0.3821892756134746, - "y": 0.4169921875 - } - }, - "time": 2.6725506516669904, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": -0.012741582075827595, - "pose": { - "rotation": { - "radians": -2.5408334253870968 - }, - "translation": { - "x": 0.32003864132610454, - "y": 0.3742850167410714 - } - }, - "time": 2.7479602251743023, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.05185978219205491, - "pose": { - "rotation": { - "radians": -2.539376314483957 - }, - "translation": { - "x": 0.25760580946533385, - "y": 0.3314732142857143 - } - }, - "time": 2.823661671155418, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.12595034511604572, - "pose": { - "rotation": { - "radians": -2.532861598964916 - }, - "translation": { - "x": 0.19630176789816578, - "y": 0.28907993861607145 - } - }, - "time": 2.898196061435821, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.22532033615872293, - "pose": { - "rotation": { - "radians": -2.5204739603382444 - }, - "translation": { - "x": 0.13753750449160335, - "y": 0.2476283482142857 - } - }, - "time": 2.970109015766409, - "velocity": 1.0 - }, - { - "acceleration": 0.0, - "curvature": 0.37790122771354123, - "pose": { - "rotation": { - "radians": -2.500489992864539 - }, - "translation": { - "x": 0.08272400711264993, - "y": 0.2076416015625 - } - }, - "time": 3.0379578138597183, - "velocity": 1.0 - }, - { - "acceleration": -0.7808367222958574, - "curvature": 0.643100281423417, - "pose": { - "rotation": { - "radians": -2.469624398069973 - }, - "translation": { - "x": 0.03327226362830871, - "y": 0.16964285714285715 - } - }, - "time": 3.100322703911016, - "velocity": 1.0 - }, - { - "acceleration": -2.0000000000000013, - "curvature": 1.1682894119278024, - "pose": { - "rotation": { - "radians": -2.4214787747418027 - }, - "translation": { - "x": -0.009406738094417166, - "y": 0.1341552734375 - } - }, - "time": 3.1570862168452316, - "velocity": 0.9556769646144485 - }, - { - "acceleration": -1.9999999999999973, - "curvature": 2.3859297141582556, - "pose": { - "rotation": { - "radians": -2.3425427551974622 - }, - "translation": { - "x": -0.043902010188524576, - "y": 0.10170200892857145 - } - }, - "time": 3.209521554480146, - "velocity": 0.8508062893446202 - }, - { - "acceleration": -2.0, - "curvature": 3.6335580164415213, - "pose": { - "rotation": { - "radians": -2.2828580802251595 - }, - "translation": { - "x": -0.05763981391640782, - "y": 0.0867767333984375 - } - }, - "time": 3.2340723671528675, - "velocity": 0.8017046639991773 - }, - { - "acceleration": -2.0, - "curvature": 5.841092214253137, - "pose": { - "rotation": { - "radians": -2.200519405360358 - }, - "translation": { - "x": -0.06880256478701008, - "y": 0.07280622209821425 - } - }, - "time": 3.2570356450944873, - "velocity": 0.7557781081159377 - }, - { - "acceleration": -1.9999999999999925, - "curvature": 7.5722712875404525, - "pose": { - "rotation": { - "radians": -2.1471266820536137 - }, - "translation": { - "x": -0.07336317868727615, - "y": 0.06619943891252789 - } - }, - "time": 3.267811450649993, - "velocity": 0.7342264970049263 - }, - { - "acceleration": -1.999999999999996, - "curvature": 9.960064242378692, - "pose": { - "rotation": { - "radians": -2.082661298108728 - }, - "translation": { - "x": -0.07721388931695627, - "y": 0.05985586983816965 - } - }, - "time": 3.2780615616135376, - "velocity": 0.7137262750778367 - }, - { - "acceleration": -2.0, - "curvature": 13.261968099207715, - "pose": { - "rotation": { - "radians": -2.004145319849071 - }, - "translation": { - "x": -0.0803326499906285, - "y": 0.05378368922642296 - } - }, - "time": 3.287757559542795, - "velocity": 0.6943342792193219 - }, - { - "acceleration": -1.999999999999991, - "curvature": 15.349391948059386, - "pose": { - "rotation": { - "radians": -1.9584991400142493 - }, - "translation": { - "x": -0.08161065950476731, - "y": 0.05085192407880512 - } - }, - "time": 3.2923946835700995, - "velocity": 0.6850600311647128 - }, - { - "acceleration": -2.0000000000000093, - "curvature": 17.775613626621393, - "pose": { - "rotation": { - "radians": -1.9079248174526666 - }, - "translation": { - "x": -0.0826974140228709, - "y": 0.0479910714285714 - } - }, - "time": 3.2968914182980864, - "velocity": 0.6760665617087386 - }, - { - "acceleration": -2.0, - "curvature": 20.564297760595316, - "pose": { - "rotation": { - "radians": -1.8519014546201613 - }, - "translation": { - "x": -0.08359015770926148, - "y": 0.04520215306963238 - } - }, - "time": 3.3012509375882564, - "velocity": 0.6673475231283984 - }, - { - "acceleration": -2.00000000000001, - "curvature": 23.715608877026085, - "pose": { - "rotation": { - "radians": -1.7899311131774183 - }, - "translation": { - "x": -0.0842861347282613, - "y": 0.04248619079589844 - } - }, - "time": 3.3054790115582726, - "velocity": 0.6588913751883662 - }, - { - "acceleration": -2.0, - "curvature": 27.189129255565305, - "pose": { - "rotation": { - "radians": -1.7215918215799086 - }, - "translation": { - "x": -0.08478258924419291, - "y": 0.03984420640127995 - } - }, - "time": 3.3095845125651975, - "velocity": 0.6506803731745161 - }, - { - "acceleration": -2.0, - "curvature": 30.883290083634527, - "pose": { - "rotation": { - "radians": -1.6466125428161849 - }, - "translation": { - "x": -0.08507676542137821, - "y": 0.0372772216796875 - } - }, - "time": 3.3135799450469086, - "velocity": 0.6426895082110943 - }, - { - "acceleration": -1.9999999999999771, - "curvature": 34.61643207697983, - "pose": { - "rotation": { - "radians": -1.5649684441271745 - }, - "translation": { - "x": -0.08516590742413976, - "y": 0.03478625842503141 - } - }, - "time": 3.317481959084308, - "velocity": 0.634885480136296 - }, - { - "acceleration": -2.0, - "curvature": 36.41673084842612, - "pose": { - "rotation": { - "radians": -1.5217325782212103 - }, - "translation": { - "x": -0.08513272941146222, - "y": 0.033569604158401434 - } - }, - "time": 3.3194048318552505, - "velocity": 0.6310397345944112 - }, - { - "acceleration": -2.0, - "curvature": 38.11965972183798, - "pose": { - "rotation": { - "radians": -1.4769856740539578 - }, - "translation": { - "x": -0.08504725941679958, - "y": 0.03237233843122206 - } - }, - "time": 3.3213127190597223, - "velocity": 0.6272239601854677 - }, - { - "acceleration": -1.9999999999999765, - "curvature": 39.680953596251996, - "pose": { - "rotation": { - "radians": -1.4308383360767607 - }, - "translation": { - "x": -0.08490915296069201, - "y": 0.031194588967731973 - } - }, - "time": 3.323209035685624, - "velocity": 0.6234313269336637 - }, - { - "acceleration": -1.9999999999999762, - "curvature": 41.05512178928634, - "pose": { - "rotation": { - "radians": -1.3834320579244794 - }, - "translation": { - "x": -0.08471806556368011, - "y": 0.03003648349217003 - } - }, - "time": 3.325097504530002, - "velocity": 0.6196543892449078 - }, - { - "acceleration": -1.999999999999976, - "curvature": 42.19798317269199, - "pose": { - "rotation": { - "radians": -1.3349387553534076 - }, - "translation": { - "x": -0.0844736527463037, - "y": 0.028898149728775024 - } - }, - "time": 3.326982150396034, - "velocity": 0.6158850975128444 - }, - { - "acceleration": -2.0, - "curvature": 43.0695549065878, - "pose": { - "rotation": { - "radians": -1.2855587029566669 - }, - "translation": { - "x": -0.08417557002910336, - "y": 0.027779715401785754 - } - }, - "time": 3.3288672891522357, - "velocity": 0.6121148200004412 - }, - { - "acceleration": -2.000000000000024, - "curvature": 43.63700751994001, - "pose": { - "rotation": { - "radians": -1.2355167832596736 - }, - "translation": { - "x": -0.08382347293261927, - "y": 0.026681308235441015 - } - }, - "time": 3.3307575117143924, - "velocity": 0.6083343748761276 - }, - { - "acceleration": -2.0, - "curvature": 43.877330084679706, - "pose": { - "rotation": { - "radians": -1.1850571236540008 - }, - "translation": { - "x": -0.0834170169773919, - "y": 0.025603055953979437 - } - }, - "time": 3.332657663350649, - "velocity": 0.604534071603615 - }, - { - "acceleration": -2.0, - "curvature": 43.77933999343348, - "pose": { - "rotation": { - "radians": -1.1344363808123417 - }, - "translation": { - "x": -0.08295585768396119, - "y": 0.02454508628164015 - } - }, - "time": 3.3345728190638066, - "velocity": 0.6007037601772995 - }, - { - "acceleration": -2.000000000000024, - "curvature": 43.34473637514813, - "pose": { - "rotation": { - "radians": -1.083916102572679 - }, - "translation": { - "x": -0.0824396505728675, - "y": 0.023507526942661783 - } - }, - "time": 3.3365082561315424, - "velocity": 0.5968328860418279 - }, - { - "acceleration": -1.9999999999999765, - "curvature": 42.588028498451074, - "pose": { - "rotation": { - "radians": -1.0337547208598437 - }, - "translation": { - "x": -0.08186805116465157, - "y": 0.02249050566128319 - } - }, - "time": 3.3384694251434603, - "velocity": 0.5929105480179918 - }, - { - "acceleration": -2.000000000000023, - "curvature": 41.53534355364406, - "pose": { - "rotation": { - "radians": -0.9841997802056115 - }, - "translation": { - "x": -0.08124071497985308, - "y": 0.021494150161743164 - } - }, - "time": 3.34046192102962, - "velocity": 0.5889255562456722 - }, - { - "acceleration": -2.000000000000023, - "curvature": 40.22229122406194, - "pose": { - "rotation": { - "radians": -0.935480973766528 - }, - "translation": { - "x": -0.08055729753901275, - "y": 0.020518588168280505 - } - }, - "time": 3.3424914556093235, - "velocity": 0.5848664870862655 - }, - { - "acceleration": -1.9999999999999774, - "curvature": 38.69119447654324, - "pose": { - "rotation": { - "radians": -0.887804449537211 - }, - "translation": { - "x": -0.07981745436267063, - "y": 0.019563947405134008 - } - }, - "time": 3.3445638331015197, - "velocity": 0.5807217321018726 - }, - { - "acceleration": -1.9999999999999778, - "curvature": 36.98805943666322, - "pose": { - "rotation": { - "radians": -0.8413486868007395 - }, - "translation": { - "x": -0.07902084097136686, - "y": 0.018630355596542303 - } - }, - "time": 3.3466849298480974, - "velocity": 0.5764795386087174 - }, - { - "acceleration": -1.9999999999999891, - "curvature": 35.15964570660894, - "pose": { - "rotation": { - "radians": -0.7962620588663976 - }, - "translation": { - "x": -0.07816711288564204, - "y": 0.01771794046674452 - } - }, - "time": 3.348860679241734, - "velocity": 0.5721280398214441 - }, - { - "acceleration": -2.00000000000001, - "curvature": 31.303118282225007, - "pose": { - "rotation": { - "radians": -0.7106357578709402 - }, - "translation": { - "x": -0.07628693471309012, - "y": 0.01595715114048546 - } - }, - "time": 3.3533990574136796, - "velocity": 0.5630512834775531 - }, - { - "acceleration": -1.9999999999999902, - "curvature": 27.428995177461147, - "pose": { - "rotation": { - "radians": -0.6315132855442873 - }, - "translation": { - "x": -0.07417416400933685, - "y": 0.0142826012202672 - } - }, - "time": 3.3582285130328335, - "velocity": 0.5533923722392453 - }, - { - "acceleration": -2.0, - "curvature": 23.75624189265796, - "pose": { - "rotation": { - "radians": -0.5590722011057767 - }, - "translation": { - "x": -0.07182604493870459, - "y": 0.012695312499999944 - } - }, - "time": 3.363398460204786, - "velocity": 0.5430524778953406 - }, - { - "acceleration": -1.9999999999999911, - "curvature": 20.414249721574574, - "pose": { - "rotation": { - "radians": -0.4931797061696271 - }, - "translation": { - "x": -0.06923982166551546, - "y": 0.0111963067735944 - } - }, - "time": 3.36895993414091, - "velocity": 0.5319295300230922 - }, - { - "acceleration": -1.9999999999999918, - "curvature": 17.459934497401907, - "pose": { - "rotation": { - "radians": -0.4334957798412308 - }, - "translation": { - "x": -0.06641273835409178, - "y": 0.009786605834960938 - } - }, - "time": 3.374966631861679, - "velocity": 0.5199161345815548 - }, - { - "acceleration": -2.0, - "curvature": 14.9001811661835, - "pose": { - "rotation": { - "radians": -0.3795612382681966 - }, - "translation": { - "x": -0.0633420391687558, - "y": 0.008467231478009984 - } - }, - "time": 3.381476380148027, - "velocity": 0.5068966380088588 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 12.711979997378924, - "pose": { - "rotation": { - "radians": -0.33086402033744416 - }, - "translation": { - "x": -0.06002496827382975, - "y": 0.007239205496651802 - } - }, - "time": 3.388553109477197, - "velocity": 0.4927431793505188 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 9.293401276465811, - "pose": { - "rotation": { - "radians": -0.2471227409523188 - }, - "translation": { - "x": -0.052640688012496994, - "y": 0.005061285836356011 - } - }, - "time": 3.4047069789966478, - "velocity": 0.46043544031161765 - }, - { - "acceleration": -2.0000000000000013, - "curvature": 6.87086543118763, - "pose": { - "rotation": { - "radians": -0.17844137117241632 - }, - "translation": { - "x": -0.04423785088467114, - "y": 0.0032610212053570953 - } - }, - "time": 3.424195782221518, - "velocity": 0.42145783386187696 - }, - { - "acceleration": -2.0000000000000018, - "curvature": 5.153442078046409, - "pose": { - "rotation": { - "radians": -0.1216295798723478 - }, - "translation": { - "x": -0.03479441020493046, - "y": 0.0018465859549386399 - } - }, - "time": 3.4482220037806184, - "velocity": 0.37340539074367585 - }, - { - "acceleration": -1.9999999999999998, - "curvature": 3.9250768863984966, - "pose": { - "rotation": { - "radians": -0.07417082549076627 - }, - "translation": { - "x": -0.02428831928785291, - "y": 0.0008261544363838969 - } - }, - "time": 3.479032538249631, - "velocity": 0.31178432180564974 - }, - { - "acceleration": -1.9999999999999998, - "curvature": 2.3809523809523805, - "pose": { - "rotation": { - "radians": 0.0 - }, - "translation": { - "x": 0.0, - "y": 0.0 - } - }, - "time": 3.634924699152456, - "velocity": 0.0 - } -] diff --git a/autonomous/utils/path_planner.py b/autonomous/utils/path_planner.py index 39e0528..f7667e1 100644 --- a/autonomous/utils/path_planner.py +++ b/autonomous/utils/path_planner.py @@ -1,49 +1,52 @@ import json import os -import tempfile +import math +from wpimath.geometry import Pose2d, Translation2d +from wpimath.trajectory import TrajectoryConfig, TrajectoryGenerator +from autonomous.utils.trajectory import CustomTrajectory -from wpimath.trajectory import TrajectoryUtil +def generate_trajectories(max_velocity: float, max_accel: float): + folder_path = os.path.dirname((os.path.relpath(__file__))) + "/trajectories" -auto_folder_path = "./autonomous/routines/" + trajectories = os.listdir(folder_path) + output_trajectories = [] -# combines trajectory files into one auto_routine.json file -def combine_trajectory_json(routines): - for routine in routines: - output = {} - folder_path = os.path.join(auto_folder_path, routine) + for trajectory in trajectories: + file_path = os.path.join(folder_path, trajectory) - path_number = 1 + with open(file_path, "r") as file: + file_contents = file.read() - for file in os.listdir(folder_path): - # ignore auto_routine.json when finding trajectories - if file == "auto_routine.json": - continue + waypoints = json.loads(file_contents)["waypoints"] - file_path = os.path.join(folder_path, file) + start = waypoints[0] + end = waypoints[len(waypoints) - 1] - with open(file_path, "r") as json_file: - path = json.load(json_file) - output["trajectory_" + str(path_number)] = path + start_pose = Pose2d( + start["anchorPoint"]["x"], + start["anchorPoint"]["y"], + math.radians(start["holonomicAngle"]) + ) - path_number += 1 + end_pose = Pose2d( + end["anchorPoint"]["x"], + end["anchorPoint"]["y"], + math.radians(end["holonomicAngle"]) + ) - with open( - auto_folder_path + routine + "/auto_routine.json", "w" - ) as auto_routine: - json.dump(output, auto_routine, indent=4) + interior_waypoints = [] + for waypoint in waypoints[1:-1]: + coord = waypoint["anchorPoint"] + interior_waypoints.append(Translation2d(coord["x"], coord["y"])) -# converts json to trajectories -def get_trajectories(routine): - trajectories = {} - - with open("./autonomous/routines/" + routine + "/auto_routine.json", "r") as file: - auto_routine = json.load(file) - - for key, value in auto_routine.items(): - with tempfile.NamedTemporaryFile(mode="w", delete=False) as temp: - temp.write(json.dumps(value)) - trajectories[key] = TrajectoryUtil.fromPathweaverJson(temp.name) - - return trajectories + output_trajectories.append(CustomTrajectory( + start_pose, + interior_waypoints, + end_pose, + max_velocity, + max_accel + )) + + return output_trajectories \ No newline at end of file diff --git a/simgui-window.json b/simgui-window.json index d80c6ec..2858616 100644 --- a/simgui-window.json +++ b/simgui-window.json @@ -14,12 +14,12 @@ "###FMS": { "Collapsed": "0", "Pos": "5,540", - "Size": "283,146" + "Size": "32,35" }, "###Joysticks": { "Collapsed": "0", "Pos": "439,598", - "Size": "632,73" + "Size": "32,35" }, "###NetworkTables": { "Collapsed": "0", @@ -34,12 +34,12 @@ "###System Joysticks": { "Collapsed": "0", "Pos": "14,301", - "Size": "192,218" + "Size": "32,35" }, "###Timing": { "Collapsed": "0", "Pos": "5,150", - "Size": "135,150" + "Size": "32,35" }, "Debug##Default": { "Collapsed": "0", @@ -49,7 +49,7 @@ "Robot State": { "Collapsed": "0", "Pos": "5,20", - "Size": "92,99" + "Size": "32,35" } } } From da1e90b12c1e31652aa16d5e69a7a82471776e87 Mon Sep 17 00:00:00 2001 From: Ann Date: Sat, 4 Feb 2023 13:18:13 -0500 Subject: [PATCH 07/12] called util from basic_auto --- autonomous/routines/basic_auto/basic_auto.py | 13 +++++++++++++ autonomous/utils/path_planner.py | 4 ++-- 2 files changed, 15 insertions(+), 2 deletions(-) diff --git a/autonomous/routines/basic_auto/basic_auto.py b/autonomous/routines/basic_auto/basic_auto.py index d8d6d67..13b9bf5 100644 --- a/autonomous/routines/basic_auto/basic_auto.py +++ b/autonomous/routines/basic_auto/basic_auto.py @@ -9,3 +9,16 @@ from autonomous.utils.path_planner import generate_trajectories from robot_systems import Robot +trajectories = generate_trajectories(1, 2) + +path_1 = FollowPathCustom( + subsystem=Robot.drivetrain, + trajectory=trajectories[0], + period=constants.period, +) + +auto = SequentialCommandGroup( + path_1 +) + +routine = AutoRoutine(Pose2d(0, 0, math.radians(0)), auto) \ No newline at end of file diff --git a/autonomous/utils/path_planner.py b/autonomous/utils/path_planner.py index f7667e1..cd2dfd2 100644 --- a/autonomous/utils/path_planner.py +++ b/autonomous/utils/path_planner.py @@ -1,12 +1,12 @@ import json import os +import inspect import math from wpimath.geometry import Pose2d, Translation2d -from wpimath.trajectory import TrajectoryConfig, TrajectoryGenerator from autonomous.utils.trajectory import CustomTrajectory def generate_trajectories(max_velocity: float, max_accel: float): - folder_path = os.path.dirname((os.path.relpath(__file__))) + "/trajectories" + folder_path = os.path.dirname(inspect.stack()[1].filename) + "/trajectories" trajectories = os.listdir(folder_path) From f643fdcc4dc976ebb19feddd646b16dd993ccdc5 Mon Sep 17 00:00:00 2001 From: Ann Date: Sat, 4 Feb 2023 20:21:58 -0500 Subject: [PATCH 08/12] added different configs for each trajectory --- autonomous/routines/basic_auto/basic_auto.py | 6 +++++- autonomous/utils/path_planner.py | 8 ++++---- simgui-window.json | 10 +++++----- 3 files changed, 14 insertions(+), 10 deletions(-) diff --git a/autonomous/routines/basic_auto/basic_auto.py b/autonomous/routines/basic_auto/basic_auto.py index 13b9bf5..be5b08b 100644 --- a/autonomous/routines/basic_auto/basic_auto.py +++ b/autonomous/routines/basic_auto/basic_auto.py @@ -9,7 +9,11 @@ from autonomous.utils.path_planner import generate_trajectories from robot_systems import Robot -trajectories = generate_trajectories(1, 2) +configs = { + "trajectory_1": (1, 2) +} + +trajectories = generate_trajectories(configs) path_1 = FollowPathCustom( subsystem=Robot.drivetrain, diff --git a/autonomous/utils/path_planner.py b/autonomous/utils/path_planner.py index cd2dfd2..609cfaa 100644 --- a/autonomous/utils/path_planner.py +++ b/autonomous/utils/path_planner.py @@ -5,7 +5,7 @@ from wpimath.geometry import Pose2d, Translation2d from autonomous.utils.trajectory import CustomTrajectory -def generate_trajectories(max_velocity: float, max_accel: float): +def generate_trajectories(configs: dict): folder_path = os.path.dirname(inspect.stack()[1].filename) + "/trajectories" trajectories = os.listdir(folder_path) @@ -45,8 +45,8 @@ def generate_trajectories(max_velocity: float, max_accel: float): start_pose, interior_waypoints, end_pose, - max_velocity, - max_accel + configs[trajectory.split(".")[0]][0], # max vel + configs[trajectory.split(".")[0]][1] # max accel )) - + return output_trajectories \ No newline at end of file diff --git a/simgui-window.json b/simgui-window.json index 2858616..d80c6ec 100644 --- a/simgui-window.json +++ b/simgui-window.json @@ -14,12 +14,12 @@ "###FMS": { "Collapsed": "0", "Pos": "5,540", - "Size": "32,35" + "Size": "283,146" }, "###Joysticks": { "Collapsed": "0", "Pos": "439,598", - "Size": "32,35" + "Size": "632,73" }, "###NetworkTables": { "Collapsed": "0", @@ -34,12 +34,12 @@ "###System Joysticks": { "Collapsed": "0", "Pos": "14,301", - "Size": "32,35" + "Size": "192,218" }, "###Timing": { "Collapsed": "0", "Pos": "5,150", - "Size": "32,35" + "Size": "135,150" }, "Debug##Default": { "Collapsed": "0", @@ -49,7 +49,7 @@ "Robot State": { "Collapsed": "0", "Pos": "5,20", - "Size": "32,35" + "Size": "92,99" } } } From 912541eef3fbe4b783b958aac1b6b763b112fa3c Mon Sep 17 00:00:00 2001 From: Ann Song Date: Sun, 5 Feb 2023 12:45:37 -0500 Subject: [PATCH 09/12] square auto with generated trajectories untested --- autonomous/__init__.py | 2 +- autonomous/routines/basic_auto/basic_auto.py | 55 ++- .../basic_auto/trajectories/trajectory_1.path | 97 +--- .../basic_auto/trajectories/trajectory_2.path | 49 ++ .../basic_auto/trajectories/trajectory_3.path | 49 ++ .../basic_auto/trajectories/trajectory_4.path | 49 ++ autonomous/utils/path_planner.py | 14 +- poetry.lock | 466 +++++++++--------- simgui-window.json | 8 +- 9 files changed, 456 insertions(+), 333 deletions(-) create mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_2.path create mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_3.path create mode 100644 autonomous/routines/basic_auto/trajectories/trajectory_4.path diff --git a/autonomous/__init__.py b/autonomous/__init__.py index 74f71bf..fad5664 100644 --- a/autonomous/__init__.py +++ b/autonomous/__init__.py @@ -1,2 +1,2 @@ -from autonomous.routines.square_auto.square_auto import routine +from autonomous.routines.basic_auto.basic_auto import routine from autonomous.utils.trajectory import CustomTrajectory diff --git a/autonomous/routines/basic_auto/basic_auto.py b/autonomous/routines/basic_auto/basic_auto.py index be5b08b..382d7db 100644 --- a/autonomous/routines/basic_auto/basic_auto.py +++ b/autonomous/routines/basic_auto/basic_auto.py @@ -9,20 +9,67 @@ from autonomous.utils.path_planner import generate_trajectories from robot_systems import Robot +max_vel = 1 +max_accel = 2 + configs = { - "trajectory_1": (1, 2) + "trajectory_1": { + "max_vel": max_vel, + "max_accel": max_accel, + "start_vel": 0, + "end_vel": max_vel + }, + "trajectory_2": { + "max_vel": max_vel, + "max_accel": max_accel, + "start_vel": max_vel, + "end_vel": max_vel + }, + "trajectory_3": { + "max_vel": max_vel, + "max_accel": max_accel, + "start_vel": max_vel, + "end_vel": max_vel + }, + "trajectory_4": { + "max_vel": max_vel, + "max_accel": max_accel, + "start_vel": max_vel, + "end_vel": 0 + } } trajectories = generate_trajectories(configs) path_1 = FollowPathCustom( subsystem=Robot.drivetrain, - trajectory=trajectories[0], + trajectory=trajectories["trajectory_1"], + period=constants.period, +) + +path_2 = FollowPathCustom( + subsystem=Robot.drivetrain, + trajectory=trajectories["trajectory_2"], + period=constants.period, +) + +path_3 = FollowPathCustom( + subsystem=Robot.drivetrain, + trajectory=trajectories["trajectory_3"], + period=constants.period, +) + +path_4 = FollowPathCustom( + subsystem=Robot.drivetrain, + trajectory=trajectories["trajectory_4"], period=constants.period, ) auto = SequentialCommandGroup( - path_1 + path_1, + path_2, + path_3, + path_4 ) -routine = AutoRoutine(Pose2d(0, 0, math.radians(0)), auto) \ No newline at end of file +routine = AutoRoutine(Pose2d(0, 0, math.radians(270)), auto) \ No newline at end of file diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_1.path b/autonomous/routines/basic_auto/trajectories/trajectory_1.path index 028bb41..845769c 100644 --- a/autonomous/routines/basic_auto/trajectories/trajectory_1.path +++ b/autonomous/routines/basic_auto/trajectories/trajectory_1.path @@ -7,62 +7,10 @@ }, "prevControl": null, "nextControl": { - "x": 2.7420516744816386, - "y": 0.9887504163714477 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [ - "START" - ], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 7.831012515095207, - "y": 2.4655667602179507 - }, - "prevControl": { - "x": 6.784610451047518, - "y": 2.4655667602179507 - }, - "nextControl": { - "x": 8.87741457914289, - "y": 2.4655667602179507 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 7.14692536841214, - "y": 6.230454824533553 - }, - "prevControl": { - "x": 10.227181817713419, - "y": 8.504787605826579 - }, - "nextControl": { - "x": 4.066668919110865, - "y": 3.956122043240523 + "x": 0.9323417763031594, + "y": 0.0 }, - "holonomicAngle": 0, + "holonomicAngle": 90.0, "isReversal": false, "velOverride": null, "isLocked": false, @@ -76,48 +24,21 @@ }, { "anchorPoint": { - "x": 4.374339149582905, - "y": 5.679168149728843 - }, - "prevControl": { - "x": 4.374339149582905, - "y": 4.679168149728843 - }, - "nextControl": { - "x": 4.374339149582905, - "y": 4.679168149728843 - }, - "holonomicAngle": 0, - "isReversal": true, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 2.5, - "y": 2.0 + "x": 1.0, + "y": 0.0 }, "prevControl": { - "x": 1.4448874394832913, - "y": 2.0 + "x": 0.0, + "y": 0.0 }, "nextControl": null, - "holonomicAngle": -114.25351410057554, + "holonomicAngle": 90.0, "isReversal": false, "velOverride": null, "isLocked": false, "isStopPoint": false, "stopEvent": { - "names": [ - "STOP" - ], + "names": [], "executionBehavior": "parallel", "waitBehavior": "none", "waitTime": 0 diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_2.path b/autonomous/routines/basic_auto/trajectories/trajectory_2.path new file mode 100644 index 0000000..6fa6922 --- /dev/null +++ b/autonomous/routines/basic_auto/trajectories/trajectory_2.path @@ -0,0 +1,49 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.0, + "y": 0.0 + }, + "prevControl": null, + "nextControl": { + "x": 1.0, + "y": 1.0 + }, + "holonomicAngle": 90.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 1.0, + "y": 1.0 + }, + "prevControl": { + "x": 0.9999999999999999, + "y": 0.0 + }, + "nextControl": null, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_3.path b/autonomous/routines/basic_auto/trajectories/trajectory_3.path new file mode 100644 index 0000000..cba4b89 --- /dev/null +++ b/autonomous/routines/basic_auto/trajectories/trajectory_3.path @@ -0,0 +1,49 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.0, + "y": 1.0 + }, + "prevControl": null, + "nextControl": { + "x": 0.0, + "y": 1.0000000000000002 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 0.0, + "y": 1.0 + }, + "prevControl": { + "x": 1.0, + "y": 0.9999999999999999 + }, + "nextControl": null, + "holonomicAngle": 270.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/autonomous/routines/basic_auto/trajectories/trajectory_4.path b/autonomous/routines/basic_auto/trajectories/trajectory_4.path new file mode 100644 index 0000000..531f7e8 --- /dev/null +++ b/autonomous/routines/basic_auto/trajectories/trajectory_4.path @@ -0,0 +1,49 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 0.0, + "y": 1.0 + }, + "prevControl": null, + "nextControl": { + "x": 6.123233995736766e-17, + "y": 0.0 + }, + "holonomicAngle": 270.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 0.0, + "y": 0.0 + }, + "prevControl": { + "x": -6.123233995736766e-17, + "y": 1.0 + }, + "nextControl": null, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/autonomous/utils/path_planner.py b/autonomous/utils/path_planner.py index 609cfaa..e0dae99 100644 --- a/autonomous/utils/path_planner.py +++ b/autonomous/utils/path_planner.py @@ -10,9 +10,11 @@ def generate_trajectories(configs: dict): trajectories = os.listdir(folder_path) - output_trajectories = [] + output_trajectories = {} for trajectory in trajectories: + trajectory_name = trajectory.split(".")[0] + file_path = os.path.join(folder_path, trajectory) with open(file_path, "r") as file: @@ -41,12 +43,14 @@ def generate_trajectories(configs: dict): coord = waypoint["anchorPoint"] interior_waypoints.append(Translation2d(coord["x"], coord["y"])) - output_trajectories.append(CustomTrajectory( + output_trajectories[trajectory_name] = CustomTrajectory( start_pose, interior_waypoints, end_pose, - configs[trajectory.split(".")[0]][0], # max vel - configs[trajectory.split(".")[0]][1] # max accel - )) + configs[trajectory_name]["max_vel"], + configs[trajectory_name]["max_accel"], + configs[trajectory_name]["start_vel"], + configs[trajectory_name]["end_vel"], + ) return output_trajectories \ No newline at end of file diff --git a/poetry.lock b/poetry.lock index a29c775..fe53b70 100644 --- a/poetry.lock +++ b/poetry.lock @@ -409,14 +409,14 @@ files = [ [[package]] name = "mypy-extensions" -version = "0.4.3" -description = "Experimental type system extensions for programs checked with the mypy typechecker." +version = "1.0.0" +description = "Type system extensions for programs checked with the mypy type checker." category = "main" optional = false -python-versions = "*" +python-versions = ">=3.5" files = [ - {file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"}, - {file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"}, + {file = "mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d"}, + {file = "mypy_extensions-1.0.0.tar.gz", hash = "sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782"}, ] [[package]] @@ -535,14 +535,14 @@ testing = ["pytest", "pytest-benchmark"] [[package]] name = "pre-commit" -version = "3.0.2" +version = "3.0.4" description = "A framework for managing and maintaining multi-language pre-commit hooks." category = "main" optional = false python-versions = ">=3.8" files = [ - {file = "pre_commit-3.0.2-py2.py3-none-any.whl", hash = "sha256:f448d5224c70e196a6c6f87961d2333dfdc49988ebbf660477f9efe991c03597"}, - {file = "pre_commit-3.0.2.tar.gz", hash = "sha256:aa97fa71e7ab48225538e1e91a6b26e483029e6de64824f04760c32557bc91d7"}, + {file = "pre_commit-3.0.4-py2.py3-none-any.whl", hash = "sha256:9e3255edb0c9e7fe9b4f328cb3dc86069f8fdc38026f1bf521018a05eaf4d67b"}, + {file = "pre_commit-3.0.4.tar.gz", hash = "sha256:bc4687478d55578c4ac37272fe96df66f73d9b5cf81be6f28627d4e712e752d5"}, ] [package.dependencies] @@ -664,33 +664,33 @@ files = [ [[package]] name = "pyntcore" -version = "2023.2.1.4" +version = "2023.3.1.0" description = "Binary wrappers for the FRC ntcore library" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "pyntcore-2023.2.1.4-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:75bf061b7fa9072c6c126b0b5888e7cefd5ebbac982e3b318b2bcb451194fb6f"}, - {file = "pyntcore-2023.2.1.4-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:b623f3ff7805cb6f4d9aaabbd9a9cdf285ea2654abf3417ff98242cc8ca54517"}, - {file = "pyntcore-2023.2.1.4-cp310-cp310-win_amd64.whl", hash = "sha256:d52425b97fb76d632952570b9e5c5876514b977542020f48a89deb0699c40c79"}, - {file = "pyntcore-2023.2.1.4-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:5a83b714ad672d3d23bd6cec57704d580e8e121539a25d9db3a2a31b777b8ab6"}, - {file = "pyntcore-2023.2.1.4-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:c2d01965b06a81e677947917a3278b02d88a54ba5b367a1518227d6a1f692309"}, - {file = "pyntcore-2023.2.1.4-cp311-cp311-win_amd64.whl", hash = "sha256:98a66520c0470dfd4a688960b7585c3a0c0a27becc5bd6236d434974dfe83eda"}, - {file = "pyntcore-2023.2.1.4-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:f8e228f363a9aceaa5d19e9889ea3def752c82c02caa5465d34e61cf060cb912"}, - {file = "pyntcore-2023.2.1.4-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:abfd27ec8888c49c812bb52659982b034a70a3441f24108ca5ca06031d3bcbf6"}, - {file = "pyntcore-2023.2.1.4-cp37-cp37m-win_amd64.whl", hash = "sha256:cad0b512e0cb8106c0eb2e27fe61032f5167c00699a90631580d36b3cdb11c7d"}, - {file = "pyntcore-2023.2.1.4-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:dbfd099345dbc3a8fc6f3ef71fe9aa20b28060f3dcc93856223f570b0ef0afcb"}, - {file = "pyntcore-2023.2.1.4-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:1f832b534e36507cc5ac588f3a77a5c011f3dfa3026f9ce80f0398a21d51528f"}, - {file = "pyntcore-2023.2.1.4-cp38-cp38-win_amd64.whl", hash = "sha256:6863ea19da141e330073ff91ac5117018abbbc57417ffc6470298d3941fb863c"}, - {file = "pyntcore-2023.2.1.4-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:ac6675b480bab01fcce6ad42a21dcbe4b557a48c5b87d7179ebcb0453f3cea05"}, - {file = "pyntcore-2023.2.1.4-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:057aa0f84d23cd7e1316800a8d69d03016ddd6a8745fc53b1212fbca28ed9ddd"}, - {file = "pyntcore-2023.2.1.4-cp39-cp39-win_amd64.whl", hash = "sha256:8a930a983b70ca0c8b44a42e988e2ffff6d5602a8f6fb1b54ac880aaef9e6f1c"}, - {file = "pyntcore-2023.2.1.4.tar.gz", hash = "sha256:1e96e31501ce96ea491a53da867bb2f9460a4cbfa90265b7eba1c5f347ffe958"}, + {file = "pyntcore-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:48e39704183f3c3e7b32dee35c186d6227ce32f846b94f0781f67a9de964b639"}, + {file = "pyntcore-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:fdf4ae791fb5388ac7a3579c5c3f41c62845319bdd22dda6886b5d0e587c10b7"}, + {file = "pyntcore-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:62b40e55c38be535e3d21cb002de4c4e26463062393a7d59c13f332ce7fcd3bf"}, + {file = "pyntcore-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:6dd9a59d101882507a9225c2f4e21d389cae0497d7dbbcbb04584970e3d3eba1"}, + {file = "pyntcore-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:fe8c7228f9ed98832f3529f4726154c0ad02f1dba9a07d192d630a6948d8f934"}, + {file = "pyntcore-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:e8ff75392e7c79521ba337028693546552b90f4607e2abd275f143650b06c934"}, + {file = "pyntcore-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:bdbe040e3ef7171062589bcd22783deccf21b8aa56618c8027447823fbc8f1cb"}, + {file = "pyntcore-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:eae59b599b65cea57a78b2cbfa66d9b973c9c665b461be661d3f3bc232f467be"}, + {file = "pyntcore-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:3cb321aafeefe805cf4abeda10462359fbbfb24ff362f1e26fa8501b25a88b1e"}, + {file = "pyntcore-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:e6350407b109f54b3ad0e75f834bdd1775027f3e308715cbd58d6f8844793f09"}, + {file = "pyntcore-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:28ed8e1770d407cf284930b94bfcb8bfe9aa954fa1a411b89147b7d37d2d5120"}, + {file = "pyntcore-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:cbf611ec07d762f867e42fc6076029c0e384f61c8af61f0f9e5ca46f3979a953"}, + {file = "pyntcore-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:9fe22c195cb008c4dbe69f173245821fa91d11587145418833a24052dfb055ce"}, + {file = "pyntcore-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:a578483d3f692e8fab7b3a8b672652e8027a0fcbff3f477cac82943bf74cd86d"}, + {file = "pyntcore-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:49bb423aaaa8bebd0c2204b278551b3d6e2a3c01222202b8179bc6cd0103e5b5"}, + {file = "pyntcore-2023.3.1.0.tar.gz", hash = "sha256:55c6b68da23561bc42fcc2b7c42d638070285423e8e5e3720a698276d7c1c7e0"}, ] [package.dependencies] -robotpy-wpinet = ">=2023.2.1,<2023.3.0" -robotpy-wpiutil = ">=2023.2.1,<2023.3.0" +robotpy-wpinet = ">=2023.3.1,<2023.4.0" +robotpy-wpiutil = ">=2023.3.1,<2023.4.0" [[package]] name = "pytest" @@ -783,99 +783,99 @@ files = [ [[package]] name = "robotpy" -version = "2023.2.1.4" +version = "2023.3.1.0" description = "Meta package to make installing robotpy easier" category = "main" optional = false python-versions = ">=3.7,<3.12" files = [ - {file = "robotpy-2023.2.1.4-py3-none-any.whl", hash = "sha256:7255962c8d4d27b276373c00b126dc5c1c5678dc2aef6bae8fac708cbbc706f7"}, - {file = "robotpy-2023.2.1.4.tar.gz", hash = "sha256:8c1e397ce714639c54192de6a1eafda50a0871e23e33398ebe785b4b64b590e1"}, + {file = "robotpy-2023.3.1.0-py3-none-any.whl", hash = "sha256:bbefde8ef55325c64314e4594648197a3904e2d8d559642e52f7a2cf36314d52"}, + {file = "robotpy-2023.3.1.0.tar.gz", hash = "sha256:2bdc75f8dba883264b852fe5ac2e1721bc490b3027c65872ae92ab5c33654c56"}, ] [package.dependencies] pyfrc = {version = ">=2023.0.1,<2024.0.0", markers = "platform_machine != \"armv7l\""} -pyntcore = "2023.2.1.4" -robotpy-commands-v2 = {version = "2023.2.1.2", optional = true, markers = "extra == \"commands2\""} -robotpy-hal = "2023.2.1.1" -robotpy-halsim-gui = {version = "2023.2.1.1", markers = "platform_machine != \"armv7l\""} +pyntcore = "2023.3.1.0" +robotpy-commands-v2 = {version = "2023.3.1.0", optional = true, markers = "extra == \"commands2\""} +robotpy-hal = "2023.3.1.0" +robotpy-halsim-gui = {version = "2023.3.1.0", markers = "platform_machine != \"armv7l\""} robotpy-installer = {version = ">=2023.0.1,<2024.0.0", markers = "platform_machine != \"armv7l\""} robotpy-wpilib-utilities = "2023.0.0" -robotpy-wpimath = "2023.2.1.1" -robotpy-wpiutil = "2023.2.1.1" -wpilib = "2023.2.1.1" +robotpy-wpimath = "2023.3.1.0" +robotpy-wpiutil = "2023.3.1.0" +wpilib = "2023.3.1.0" [package.extras] -all = ["numpy", "pyfrc (>=2023.0.1,<2024.0.0)", "pyntcore (==2023.2.1.4)", "robotpy-apriltag (==2023.2.1.1)", "robotpy-commands-v2 (==2023.2.1.2)", "robotpy-cscore (==2023.2.1.1)", "robotpy-ctre (>=2023.0.0,<2024.0.0)", "robotpy-hal (==2023.2.1.1)", "robotpy-halsim-ds-socket (==2023.2.1.1)", "robotpy-halsim-gui (==2023.2.1.1)", "robotpy-halsim-ws (==2023.2.1.1)", "robotpy-installer (>=2023.0.1,<2024.0.0)", "robotpy-navx (>=2023.0.1,<2024.0.0)", "robotpy-opencv", "robotpy-pathplannerlib (>=2023.0.0,<2024.0.0)", "robotpy-photonvision (>=2023.1.2,<2024.0.0)", "robotpy-playingwithfusion (>=2023.0.0,<2024.0.0)", "robotpy-rev (>=2023.1.1,<2024.0.0)", "robotpy-wpilib-utilities (==2023.0.0)", "robotpy-wpimath (==2023.2.1.1)", "robotpy-wpiutil (==2023.2.1.1)", "wpilib (==2023.2.1.1)"] -apriltag = ["numpy", "robotpy-apriltag (==2023.2.1.1)", "robotpy-opencv"] -commands2 = ["robotpy-commands-v2 (==2023.2.1.2)"] -cscore = ["numpy", "robotpy-cscore (==2023.2.1.1)", "robotpy-opencv"] +all = ["numpy", "pyfrc (>=2023.0.1,<2024.0.0)", "pyntcore (==2023.3.1.0)", "robotpy-apriltag (==2023.3.1.0)", "robotpy-commands-v2 (==2023.3.1.0)", "robotpy-cscore (==2023.3.1.0)", "robotpy-ctre (>=2023.0.0,<2024.0.0)", "robotpy-hal (==2023.3.1.0)", "robotpy-halsim-ds-socket (==2023.3.1.0)", "robotpy-halsim-gui (==2023.3.1.0)", "robotpy-halsim-ws (==2023.3.1.0)", "robotpy-installer (>=2023.0.1,<2024.0.0)", "robotpy-navx (>=2023.0.1,<2024.0.0)", "robotpy-opencv", "robotpy-pathplannerlib (>=2023.0.0,<2024.0.0)", "robotpy-photonvision (>=2023.1.2,<2024.0.0)", "robotpy-playingwithfusion (>=2023.0.0,<2024.0.0)", "robotpy-rev (>=2023.1.1,<2024.0.0)", "robotpy-wpilib-utilities (==2023.0.0)", "robotpy-wpimath (==2023.3.1.0)", "robotpy-wpiutil (==2023.3.1.0)", "wpilib (==2023.3.1.0)"] +apriltag = ["numpy", "robotpy-apriltag (==2023.3.1.0)", "robotpy-opencv"] +commands2 = ["robotpy-commands-v2 (==2023.3.1.0)"] +cscore = ["numpy", "robotpy-cscore (==2023.3.1.0)", "robotpy-opencv"] ctre = ["robotpy-ctre (>=2023.0.0,<2024.0.0)"] navx = ["robotpy-navx (>=2023.0.1,<2024.0.0)"] pathplannerlib = ["robotpy-pathplannerlib (>=2023.0.0,<2024.0.0)"] photonvision = ["robotpy-photonvision (>=2023.1.2,<2024.0.0)"] playingwithfusion = ["robotpy-playingwithfusion (>=2023.0.0,<2024.0.0)"] rev = ["robotpy-rev (>=2023.1.1,<2024.0.0)"] -sim = ["robotpy-halsim-ds-socket (==2023.2.1.1)", "robotpy-halsim-ws (==2023.2.1.1)"] +sim = ["robotpy-halsim-ds-socket (==2023.3.1.0)", "robotpy-halsim-ws (==2023.3.1.0)"] [[package]] name = "robotpy-apriltag" -version = "2023.2.1.1" +version = "2023.3.1.0" description = "RobotPy bindings for WPILib's AprilTag library" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-apriltag-2023.2.1.1.tar.gz", hash = "sha256:92d7eb113f9cb97d886d21eff0ad276081d55cf92921caf793653b50f26ae55a"}, - {file = "robotpy_apriltag-2023.2.1.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:bde34e16414b288339d54227b022e582e65a0c906886bbafa9640a9caa52e0bf"}, - {file = "robotpy_apriltag-2023.2.1.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:7bfde4df3f512fe355c5ffd3ec2d148c182e19839ba2be58af3c15aa1f74d9fc"}, - {file = "robotpy_apriltag-2023.2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:d8566c4a4f2dee39c10aa76a2874bddecb4f5c1531a200ccc2e66aa0a16f0c11"}, - {file = "robotpy_apriltag-2023.2.1.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:f15fbb0ee6a8bd10771a8f177a45214d7d9107d12ec3edbf335486c8ea10ea49"}, - {file = "robotpy_apriltag-2023.2.1.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:e663c8a9b6075808b55a09f4c7ade9b688c5b1c8d41a858ee436466c900372dc"}, - {file = "robotpy_apriltag-2023.2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:ed6adfc5e3d5c3411c7538403db6c625cc71c1ad376c29796425cd401cd66aef"}, - {file = "robotpy_apriltag-2023.2.1.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:f1d2f3c89c7c7dcf15677f5aa36a8b01d7d6ff827b0f5c2fed0f98f230f28daf"}, - {file = "robotpy_apriltag-2023.2.1.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:7644ea2d6546743ccb4c072d110e83089708c29d936f9c49b3f85c8240e1d6b5"}, - {file = "robotpy_apriltag-2023.2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:c11719825ca88ecb4e18166fefb4224d619d9ee9b29f06e3d9cc8f6df5f5a9f2"}, - {file = "robotpy_apriltag-2023.2.1.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:37eef59fd000cca774ca2ea744ff2236e52842dc10db3be32ad53f8edae66419"}, - {file = "robotpy_apriltag-2023.2.1.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:845c281e19019c40c1f44a9aee4cc8b63dc1ae718b8176ba2d0b2776e0cbac2d"}, - {file = "robotpy_apriltag-2023.2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:908074fb72bc0bd7c9679b3da0b123f949ba8e8a5c649f182f6a6549dc8dc6ed"}, - {file = "robotpy_apriltag-2023.2.1.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:1cfebb05259037dfa76cbe3d56f3fb60e2b53dd9464348a70363241e5ab32116"}, - {file = "robotpy_apriltag-2023.2.1.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:934b986a82cb8ab2f0bd0f3e186f9510a024d9108b0ed46accc52472446a6c03"}, - {file = "robotpy_apriltag-2023.2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:d3f4f4887e4191126b824b75ba0cd29ae1b4524daf30f0f9ba0d2495f18a5469"}, + {file = "robotpy-apriltag-2023.3.1.0.tar.gz", hash = "sha256:311de5b4fe24143abb6c2a6e9918c83fa1281737a68132460055ce2d494eecbe"}, + {file = "robotpy_apriltag-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:9a959dae5b90769c03e2a05ee2f23ad1f72c0580417eb7f2d5dda7e51810dbea"}, + {file = "robotpy_apriltag-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:819bb0191fceabe95275526a9f4031cdaec3bfb1f166d6a8506187183afd4619"}, + {file = "robotpy_apriltag-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:85842f27be050df58a379762a1c0fdb476fec1187c2aa3935dff7bfaec28d0fb"}, + {file = "robotpy_apriltag-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:c4ead7d92288f8173c79b8a2237b0b0f5220d941b3cab76317fe54f14aa0f9a3"}, + {file = "robotpy_apriltag-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:53f8480a0988cea7c6c400cf7e1d9a9e402b9f8ec953246b4cbb59d9bd517747"}, + {file = "robotpy_apriltag-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:a2a3c0603ae7ab744d8fbf8e2c4606fb9c6b6fe1caa565845368c026b82ad7c1"}, + {file = "robotpy_apriltag-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:264916d3076d15ee170144d386480945fa2d5ece5eab7520e27e0557acddbb59"}, + {file = "robotpy_apriltag-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:fdb2ae7879523986ffbe14dd713f080b4f94bd850b50aafd05a12d52761e07f9"}, + {file = "robotpy_apriltag-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:a266557ce233bb0415f22dbd5d08f355f0d2d5679fe02c6464afd1456c9878c7"}, + {file = "robotpy_apriltag-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:13f5ca1c058fb9ba7ca45074c0e7b14b068f7ee0b721b340bec361ed7c7a5fed"}, + {file = "robotpy_apriltag-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:a0a8ed442ef6076b5fbd028556fd7411396694470556dc27de025531fad78c42"}, + {file = "robotpy_apriltag-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:d9044fd6d37cd72c6930136c0bfde84d904f1589dfac7d38e9537fe5a7b85383"}, + {file = "robotpy_apriltag-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:bc1b5a687ee2c868b59df78e5479b172f6680f4332c5e87b56de76cfcd2c3b60"}, + {file = "robotpy_apriltag-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:bc03f74f910a56bde06dbdc4c4fedfc334ebe048388fadf71eeb90362ca3aad7"}, + {file = "robotpy_apriltag-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:ed86f59c91a5d08fa7908c05b2387e91c05600c2d02fa885675536d13c72ed9c"}, ] [package.dependencies] -robotpy-wpimath = ">=2023.2.1,<2023.3.0" -robotpy-wpiutil = ">=2023.2.1,<2023.3.0" +robotpy-wpimath = ">=2023.3.1,<2023.4.0" +robotpy-wpiutil = ">=2023.3.1,<2023.4.0" [[package]] name = "robotpy-commands-v2" -version = "2023.2.1.2" +version = "2023.3.1.0" description = "WPILib command framework v2" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-commands-v2-2023.2.1.2.tar.gz", hash = "sha256:b8e2e6d1cd0afc72c6527cea40a3e9833eb554eabcdf5a107b5e2407837605c7"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:5e07a164817372cc87da18508b3db8722a1f04c8b7d22ec93f38b1e6fdee438c"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:15ed6df76909fa1b8d45f1052c0a94fc79377d146877a9a68f633433db87a0d8"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp310-cp310-win_amd64.whl", hash = "sha256:473a8ca259362d335b68c16c956bc869200f4592a7e70ca6b2b1c0200045af99"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:20ca7ae501c3def8aad47867c50eabf68de281a60c4429991376c22ad7f2f886"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:27fb9593ccf4002c2f88e69a4cc745c43a579e28b404060708ce48c4cb268efb"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp311-cp311-win_amd64.whl", hash = "sha256:217ec8b7e685def70d793d84891e78055df84debcc2aa689c5b4f1266fff9bcc"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:a1c26608d17cee9f846dedc869ab74411053a887b4a40630680dcf223a458314"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:37b28a26996b86696ac4b1ff5bc1acbcdeb2e7bacb4c6950181f851db14976b0"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp37-cp37m-win_amd64.whl", hash = "sha256:2e4ff1a3454dd87730c279a7aa1da4363785032623fdaca582bd8f4991c67723"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:ac06827fb9a2c80d4047b38e31a99d8e7903aea7fd85e4291ebdc8441e5afb41"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:6e4af0cb07f91681bde9002847f4689ffe1404f5a97227c407f738f61e159eaf"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp38-cp38-win_amd64.whl", hash = "sha256:66ad68e1ce146e58c6c4a2c98a88226c31ced1b2b9cead36c76d75f140a3ff3d"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:8fb292e75f0502570df22a9ec38ee09ce8cbbd11dc86a3cfe8fd533564f18e64"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:f02fb2740cd62c6764dffa6c546df4f4a3eea97d5b961207893ee18fd9a102a8"}, - {file = "robotpy_commands_v2-2023.2.1.2-cp39-cp39-win_amd64.whl", hash = "sha256:292a5b3413afa6c9b1b68bfe16e01f09a4eb0d020e6b44ef6766a2e4b99cfdcc"}, + {file = "robotpy-commands-v2-2023.3.1.0.tar.gz", hash = "sha256:cf1045f3b17021ca7c38a7ca8fb2bf555d9faa78cb8e338d7895ae01ab909387"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:4b19493f985d77040ee4ceb4dbeb7b568accfbd622e76dbf89638107ad0ee1ef"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:1dcd46f862caab61213172846d2e7788c7d1aca25be6f4691cf92028310339ea"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:eace2c651e917f1a63e24cd08bafb3b991ea3424d0b3e6f30298f22ca2359b2f"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:09b8ab5e73587cc45d1c02017b2fbdfd16a924edffd805655b7e07e4be95a136"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:a0f1fea1a1178bf629f7e72ae1023d74a1d9e7c9f71ebec07132c967bfd6816f"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:b8bc4bb6e988167469c675f759b0517ecb7c6ae8c416730c62adcef2186e8f04"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:dda1b61631af3ce6af5450d1e99dc95faee0e8520e911f78612c064c91c6e18d"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:7586278bab69970a52a0f59dbb227ec5867d7ae37582f7d6bb0b7cdb1806cb44"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:ff34ddc6aa81dfcc3f9585b5f1d22920da698b9cc859e83b42aa542d0453fd8b"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:8092376977c8f944753f19282c2487e7f06c31bbc6e729cc87f981164b672000"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:50f5242c7b06f8d0b80724cf46d5704f7f7f2a1a340878b1a73a2dec29a4454a"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:1ba0a768a4af470a537a478a98f5cc2051bc1846120da29216418808a86c64e3"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:f0ffefced2911778f2c021d408daf280eb2fa5a95c24f7a60649c5fdeceffe65"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:59a2b443d4b7eb9cecd4e7fb117783a8a26c2e36d964da5c6af3267093b9467e"}, + {file = "robotpy_commands_v2-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:4d44f39e0fe7f606eaf168c5ac9a65b571f5e9aa51cd70376fbf9c4f2eba02fe"}, ] [package.dependencies] -wpilib = ">=2023.2.1,<2023.3.0" +wpilib = ">=2023.3.1,<2023.4.0" [[package]] name = "robotpy-ctre" @@ -908,64 +908,64 @@ wpilib = ">=2023.1.1.0,<2024.0.0" [[package]] name = "robotpy-hal" -version = "2023.2.1.1" +version = "2023.3.1.0" description = "Binary wrapper for FRC HAL" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-hal-2023.2.1.1.tar.gz", hash = "sha256:7758317dceeb09b9a58db2f96515ed476d45539ad346af1c8fb3b40544a7c01a"}, - {file = "robotpy_hal-2023.2.1.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:72bf5377d21af2aca57731e1d2edaf7f26e239576021ef3bd708b909d30c402c"}, - {file = "robotpy_hal-2023.2.1.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:d11acbb956c654e95eb80996763e4a5e5445affdab0c1a07e27978a79bda5e92"}, - {file = "robotpy_hal-2023.2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:73c970f1826d0d54ee889b497e4a56726e6fc668208485db4b3cd0f06fee19fe"}, - {file = "robotpy_hal-2023.2.1.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:663313b66c703f8f2b12f09756319e9453e1124c9cf9c920b58596aa0be7d66b"}, - {file = "robotpy_hal-2023.2.1.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:3fa14db333a0e6a3c82d06167a304e8858756c63798a27be7c6bc488137c1040"}, - {file = "robotpy_hal-2023.2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:aa5597578aab03e5e3df86c7f1da221fc7520ce8bd9259448a933581c8ce86dd"}, - {file = "robotpy_hal-2023.2.1.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:953b2f354ebd98d9b45e23e4124bcac8a9cfb12f2cc03e2229866939aa8607aa"}, - {file = "robotpy_hal-2023.2.1.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:66b46af22b88ef6892f28e425687992ea9c1160f5319e59e27a04402ddf83025"}, - {file = "robotpy_hal-2023.2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:8842d0bf3c026e2a07c8d0b9717d115c1a14f79f233e6e736429d2501473a00a"}, - {file = "robotpy_hal-2023.2.1.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:cf150a76701ad6f2622aedc29811760988b24d42de35bbbc310ae2464c5f2a13"}, - {file = "robotpy_hal-2023.2.1.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:d10245082d191d1f6a0be3d97d08557dbf3f0a2f0514545d63d09cb2442fed3f"}, - {file = "robotpy_hal-2023.2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:4ad29cec9c9d4b4288d267833d28ecc10f7acc6fc1be497cf5514a5647865d74"}, - {file = "robotpy_hal-2023.2.1.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:ac90bbb6a2770a4156a132495ae68f76f4681a8d842b2e0e566ad6c4503e0a11"}, - {file = "robotpy_hal-2023.2.1.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:44d72d155e79a78678d2d7dd4f6fe33a647d039a2e4f148f590b532886b72274"}, - {file = "robotpy_hal-2023.2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:840450e481863ccd8fb3261c970e35bc54c3c442354f650fcec9ea7e2e1b6c73"}, + {file = "robotpy-hal-2023.3.1.0.tar.gz", hash = "sha256:c26e5ae573d6425be2cee6e4adb1138e75986273b3e133840f6031418dd7d146"}, + {file = "robotpy_hal-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:a97253780f2539712ba3662465ebc971c301da50fa595a3a4233b8b7bcd7a326"}, + {file = "robotpy_hal-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:4a8921c8dd0e45dcc02141b2ea913d0b68a5c2c973f0d298f94b197d32660105"}, + {file = "robotpy_hal-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:715537dd09731b42ae274008faea12189bde20b0b9ea8184fc30ef29f0aaca1f"}, + {file = "robotpy_hal-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:30b005bee5534dfb005c224c1a44fbb035257d329b7abc4766053784f4e8b1c6"}, + {file = "robotpy_hal-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:c10c5eb139eade0a38b7a61ac67f5df150c40cc0b8e7e24620e8e37702530d9f"}, + {file = "robotpy_hal-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:8351a7dca7f5959736025737d9e94ea3a5142b410082f30c02c5a8606cf28081"}, + {file = "robotpy_hal-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:0cebd18e5b761bab7d4c46291b2d264c36e969a21c86f428068f69a6c6c79168"}, + {file = "robotpy_hal-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:5016b21f9d113753498ff7f9d80e88cdc067c0c69c734ec1e72e7f43e7ddae8d"}, + {file = "robotpy_hal-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:579111afa864cb98989b5d28e7f1f267d87a4b1d58b72591627b5ab7cd454f6e"}, + {file = "robotpy_hal-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:329a3b75d57759023afd6da9045be971459c3a0783827f379d0e5292c2d67b53"}, + {file = "robotpy_hal-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:7dac3988cd497817b86a4d4a8920c3b2d23a7e07ccdc46806c4bb5227afc520a"}, + {file = "robotpy_hal-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:240c2e36fe7d94db6cd5a801d22ebd0fddc72d284a5313febdf817da88f21f02"}, + {file = "robotpy_hal-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:98aa26ec5dbd08355ffb68add99f03607cb1f013c9f8aaa1026a837269e13ff0"}, + {file = "robotpy_hal-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:d3cf2a51dd643979da911938aff04dda2277c9ed65525af08115e5070ec46429"}, + {file = "robotpy_hal-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:ede153570b5bf9129a1c756f4cd35cc862c9be057a47285835920b13f8ad5981"}, ] [package.dependencies] -robotpy-wpiutil = ">=2023.2.1,<2023.3.0" +robotpy-wpiutil = ">=2023.3.1,<2023.4.0" [[package]] name = "robotpy-halsim-gui" -version = "2023.2.1.1" +version = "2023.3.1.0" description = "WPILib command framework" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-halsim-gui-2023.2.1.1.tar.gz", hash = "sha256:a7d1e672e33646c9a27100562cc084710738071f9ac53f0d46b0add939e10c63"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:85bdc7bd186a3c53c71ecdf83b641de86c34cb13994ad74f77edd97b82b6d0d8"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:314ca6ec4741bfa082965f10eab6bdf3afd3b4601cb4db73625f5bc5ee06de31"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:ad2bcc06f32eacfebfa4da2dd650a483776983d61232861d42194af564addf1c"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:98b50b351b982992b97584b89c26f637707e62ad14a4a0544b557284a605fd11"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:3a74f1686a38e7d0ef426648bb5372bcab06bf591e937ef4e90ec1c42fc1ea19"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:c2172103ab1ad3e405bea51a08cff9bb84c8205de2354f46e2fd3ce03036325f"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:8ec550e13378473c0821e9f2fa62e7a3274c754b5d1fe7bddf5bb9bda1f7a737"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:e8567e49c85f7636c857ce8d85b87e9ad27beadf2d9296547f43dfe0a179cd95"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:9260ae039c0d360635d1378a1499c9483e47f8910064d6637e5dcc72d4dc3eed"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:e63b65bcc69da1e3a6e5d884e74718fee0a03870d77bf7cf55d43c99b7a19474"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:175ddba153bf32e5c320bee79ec8dd3c16e0cdff218f16c2cc9ddc27f48de9c8"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:d3fe645a989bd1c5d41fc3754243cc2157c83b7f4e7546c932fcd5ae3f6eb0d6"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:7fa9aac711bd1cff38bec47350321b5909da82c0379721e9162d881f87e05703"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:8ede7edc29ee84094464892798c1f4e95177ebc56b42c5fe77db789b4a6ef374"}, - {file = "robotpy_halsim_gui-2023.2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:62dab74f4b8cb9d9a0f822c5f523f37b9dbff69b84fc4bb6018f3f2a15fe73aa"}, + {file = "robotpy-halsim-gui-2023.3.1.0.tar.gz", hash = "sha256:c87a9236b4cb04615e45dad1fcfb2fbf0affe99f4f427ba92abd83e601cb6f8d"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:aeaa7ab3f46ad57513960bad62f9a830e830f316302482a66973f8975a0a5497"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:077ea13faefd0d7cd3f2cf31b2f79f18b8322cd73f30ce5d9931c2753a8265d8"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:fed466b9fe8b1d0fe7d917d4d9a4178d675d265702beda2b59b11430ea306843"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:a793cb2c64a741e94a2b312d32f9ef6edfeab98a93eede3006698c7cb681294e"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:abcfe8429dc4e39df7cbf491bbbd7046ee4edfed22678d4bea1b5890b8d4a61c"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:1e2ba9548754538e2ac843d48e897d6e4536c4c05938f5f8cbc623dd561743c2"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:32abaa16e54c5c5a664a537e518238dd78839badb3a7b55d57b7ffbb96260cad"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:3b586b74b35b27f2cf286508c00b9aa9fd9627af99b95604f30b710811ded1b6"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:2024c0355e19d4d7f7d901e205c749f3161c78a8e7fcaf9a1233380c5834763e"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:b545953d367b297cace635d6073e36e0a0b28b273ab75c65129f8eb85769097c"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:344c4d21be3c4da4dd2fca2880abb180eb38db928790c160e95a542add654a3c"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:8d045c1f4d32cb4c98a95c8b40e94806bfa0aff5bc13109d67d48c804f27d36f"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:a13c941ac5795cfc57bb7471b083807422b3b311abeff99704d5096a3c5fe974"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:dfb8cf3f81d89553eaf76e6ba9e7e4895e5771c8c28b283872647ce8bc648ac2"}, + {file = "robotpy_halsim_gui-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:bc2390d1f5e131577b865f2c87acbe621a469556325d170c499a238dfa2f575d"}, ] [package.dependencies] -pyntcore = ">=2023.2.1,<2023.3.0" -robotpy-hal = ">=2023.2.1,<2023.3.0" -robotpy-wpimath = ">=2023.2.1,<2023.3.0" -robotpy-wpiutil = ">=2023.2.1,<2023.3.0" +pyntcore = ">=2023.3.1,<2023.4.0" +robotpy-hal = ">=2023.3.1,<2023.4.0" +robotpy-wpimath = ">=2023.3.1,<2023.4.0" +robotpy-wpiutil = ">=2023.3.1,<2023.4.0" [[package]] name = "robotpy-installer" @@ -985,28 +985,28 @@ paramiko = "*" [[package]] name = "robotpy-photonvision" -version = "2023.2.1" +version = "2023.3.0" description = "RobotPy wrappers for photonvision" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-photonvision-2023.2.1.tar.gz", hash = "sha256:b7ae4f178f92877ee843b53a04869c07f03a3df4b224611fad61dd2ddfebc8e2"}, - {file = "robotpy_photonvision-2023.2.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:01c6407e85fc9e4e102bbc10a20c6ddfeff0442adb875f880d2e99a4d2635b57"}, - {file = "robotpy_photonvision-2023.2.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:baf6fe30ab817683129d00b975523a86a8d809b1ee5c68371156fa1925e60608"}, - {file = "robotpy_photonvision-2023.2.1-cp310-cp310-win_amd64.whl", hash = "sha256:2ba84103806832a863ceaeef4fcd5baf1c3907d2271c62980a65a7f6186548f1"}, - {file = "robotpy_photonvision-2023.2.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:014226f8d2b7014ebd3e35e58040023bc36ea7db7980be5aa9f5c930464d4b61"}, - {file = "robotpy_photonvision-2023.2.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:053bbcddea30afd460d56f80a229e3ae13f7c81111e569fe36bd0d7618b0bf3b"}, - {file = "robotpy_photonvision-2023.2.1-cp311-cp311-win_amd64.whl", hash = "sha256:3928a78381d4b4dcf7fd196cb9a1f6f6e07c5af38890aaa59c8f686b4e88b4fc"}, - {file = "robotpy_photonvision-2023.2.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:e1f92620145a05b0f4235ca6755fd339b1d0b719620eed63ce559c779b1910fe"}, - {file = "robotpy_photonvision-2023.2.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:66be467628a69db5184d5efb5729bbf558a5a426fafc3a8ef90d5ec0f7bbdc22"}, - {file = "robotpy_photonvision-2023.2.1-cp37-cp37m-win_amd64.whl", hash = "sha256:7fc71100a5fde1ce762e3cb73210cfdfe13ff0af8bdc6ce8d5732513d2fbcc57"}, - {file = "robotpy_photonvision-2023.2.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:e166fc9fb4415fa1d1b97374c0f48802527b9ea9cc889e4eafac3058bb65f369"}, - {file = "robotpy_photonvision-2023.2.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:8db2e4b200875daf7edb98e5602feb99f4fe7e50f3f3c7254ede0f7fa50d68f9"}, - {file = "robotpy_photonvision-2023.2.1-cp38-cp38-win_amd64.whl", hash = "sha256:68ea43f61414cab8096c5f01cb70046879835e8214b88c71ee1eda3658edf1d7"}, - {file = "robotpy_photonvision-2023.2.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:e4aa80c38682581eeb93d40c801cfef546d12961dd95466d4dfe649258d56024"}, - {file = "robotpy_photonvision-2023.2.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:00d672def37709e16d825ff61091ab0ac30e218b24593813475541fc2f6affd0"}, - {file = "robotpy_photonvision-2023.2.1-cp39-cp39-win_amd64.whl", hash = "sha256:6e1eed18e54a0899f362e663de5bfffd38c2df3c10b4797166e3f74b192d8103"}, + {file = "robotpy-photonvision-2023.3.0.tar.gz", hash = "sha256:604b331b7b3416401f2fd0588f21de0314282d473f4ec14b1ce548da2b3bc722"}, + {file = "robotpy_photonvision-2023.3.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:6c8e89a8eb2f13d80833708e74cd80faea4a1030d2533cbd0136f622a40ca567"}, + {file = "robotpy_photonvision-2023.3.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:3dcab4380ac99f94cb75c896038bea43629523ab6cc48bf279a92e7102b451c5"}, + {file = "robotpy_photonvision-2023.3.0-cp310-cp310-win_amd64.whl", hash = "sha256:672fdf9c59936f55688095f1824dba337762895146b06bddf7bc7ce71b5a4539"}, + {file = "robotpy_photonvision-2023.3.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:35e3233d143c9b568e777561e9467dbb87de3bb786558afd8fadb58e64a77b5c"}, + {file = "robotpy_photonvision-2023.3.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:3e2034f1ba150c286361b5b30fd3bee6cda7d68dee4b3811849822b2a39a253d"}, + {file = "robotpy_photonvision-2023.3.0-cp311-cp311-win_amd64.whl", hash = "sha256:22514636a5c282eaba3d67a9e0cd118d749b849f26501ba737108410cbb5a901"}, + {file = "robotpy_photonvision-2023.3.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:48a02d426c0bdddad9f9772449a7416fa9026aec367dcb3f5fc1400444e14f20"}, + {file = "robotpy_photonvision-2023.3.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:4c4d78e709dbf9c6db793f48fd12249c10a07e2ea71c1cf1262ed38d85d23573"}, + {file = "robotpy_photonvision-2023.3.0-cp37-cp37m-win_amd64.whl", hash = "sha256:38d1812208476357f2da7b490721ff4bd04f99ae8f189d3653f04fdf79d4d593"}, + {file = "robotpy_photonvision-2023.3.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:0f7ce65899f129f6ca364d861d2b74401d261732c400170f742816f8680de83b"}, + {file = "robotpy_photonvision-2023.3.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:7269249b8a2a4827d11a3ddacd941f6fdf3ad919ed4b39b710d9d07aeea2f696"}, + {file = "robotpy_photonvision-2023.3.0-cp38-cp38-win_amd64.whl", hash = "sha256:93fc717624203b97fffce74b64d03e1dea426d4644db0b6551fa690d58389afe"}, + {file = "robotpy_photonvision-2023.3.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:eca1d2d10c6c1847ec7368acd719948cf2efe9c6c03db81d9c3bf6d3089ee712"}, + {file = "robotpy_photonvision-2023.3.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:d08ea5c874ecd75493c4f17a7d43bb1a2628d5c5f7ff453813869bb0fe74a4db"}, + {file = "robotpy_photonvision-2023.3.0-cp39-cp39-win_amd64.whl", hash = "sha256:cfc696cd2bb4ec21a5fab22c49bde9bc9f9750130890e20a7acb6b3c86279935"}, ] [package.dependencies] @@ -1017,28 +1017,28 @@ wpilib = ">=2023.2.1,<2024.0.0" [[package]] name = "robotpy-rev" -version = "2023.1.3" +version = "2023.1.3.2" description = "REVLib for RobotPy" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-rev-2023.1.3.tar.gz", hash = "sha256:b03386f4e7842428da559b46af0eb1c32de068180ef12660b7668a86ea6029c1"}, - {file = "robotpy_rev-2023.1.3-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:ab687691796bb8dd9b4c323deed33664f8122a95842c9df998eb493c02d330f0"}, - {file = "robotpy_rev-2023.1.3-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:af8c7018389a2b9b2e97ef3abc18b370a356e00a14b2b10c336ec48111ac86e8"}, - {file = "robotpy_rev-2023.1.3-cp310-cp310-win_amd64.whl", hash = "sha256:8e840a9e2f8f2ebd0bbad6bf915f88ccc4e4ef4a474b07c4912f52f4fe73e697"}, - {file = "robotpy_rev-2023.1.3-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:ebd77a519a3d013ad59d4e9e4862df99839b882b7992938c03548cc7d0495dc2"}, - {file = "robotpy_rev-2023.1.3-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:a16b95c005e5b753fda2fc46d5220b958c3bc1ef84e9e2b72acf63eee696d4aa"}, - {file = "robotpy_rev-2023.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:024709779d58d874e147e0b0926881a6a3f660104b8117ac48d853a127d5f161"}, - {file = "robotpy_rev-2023.1.3-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:5ec33ee9c2a6d0b090ad810a6479e8dc322039b486a895ff643a5ba60172c9d5"}, - {file = "robotpy_rev-2023.1.3-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:5c1fd43b9b2911500628398f2a6ebf7c6e0f01cf2b600a4b7197e9e2c12ca9fc"}, - {file = "robotpy_rev-2023.1.3-cp37-cp37m-win_amd64.whl", hash = "sha256:443e42ec646594b121fa5aa7fa5deb360653bc0f95de17d0b04263099145364f"}, - {file = "robotpy_rev-2023.1.3-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:7aec09518b01a8e8038684e4f07767517f0ba20f20e9c8a69239309763c995fc"}, - {file = "robotpy_rev-2023.1.3-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:d69e1092a27b0c3613441a00161999a4b2f6d5288f2326e2be261cc767d429ab"}, - {file = "robotpy_rev-2023.1.3-cp38-cp38-win_amd64.whl", hash = "sha256:606e74429cff8110d792ba14aa360025b20e8cd13f6abf02a14780990f74f777"}, - {file = "robotpy_rev-2023.1.3-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:361d0c6d18a490ad8f51a05f279d6cfa661e4941ceb7170697af538e2b3a4dc6"}, - {file = "robotpy_rev-2023.1.3-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:195fabf80e519f058cf4ba7561c5499be07ec762cdc06075ccff79f2ad15d6a6"}, - {file = "robotpy_rev-2023.1.3-cp39-cp39-win_amd64.whl", hash = "sha256:0dc48321d615ea853259870159c338ed0ab4e3086e62400b5a7ad620bcf5046f"}, + {file = "robotpy-rev-2023.1.3.2.tar.gz", hash = "sha256:c8e6e36220d5016caf41277059098d8b8f5d125c842cb2149c25d05d1d1e02a2"}, + {file = "robotpy_rev-2023.1.3.2-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:9cc26f74820b41dfc647bcda9a07fcbde8bd4a24a55c229e99224d2569d6dc62"}, + {file = "robotpy_rev-2023.1.3.2-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:630a446cd7f55ee322f27b9523656df9dbf7ce91c17aa60e31b26df5685a81bb"}, + {file = "robotpy_rev-2023.1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:587e4af4bb05788bb14a9110001fb1401898808ee16f1337ead208312c27c753"}, + {file = "robotpy_rev-2023.1.3.2-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:ac912a73c8f03734fb12b17024f9458b57cc7f4d47f2928d7c7214437bae17e7"}, + {file = "robotpy_rev-2023.1.3.2-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:82f0dde1410a7112ba1dd23c0e51e80b54582a0e726f03322173554146688a31"}, + {file = "robotpy_rev-2023.1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:a1ba24db9afcbd234cd676625eeefd225d456b6dece5934051ecd46f543e16b2"}, + {file = "robotpy_rev-2023.1.3.2-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:d73917e6ff62b12acf5f8eeb83ddc65c211ab039f49df19fc86be5ffb0b863ce"}, + {file = "robotpy_rev-2023.1.3.2-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:86dd6f7545d192836defe121c86072e6399796b9572539187ad9517503bf0eaf"}, + {file = "robotpy_rev-2023.1.3.2-cp37-cp37m-win_amd64.whl", hash = "sha256:4ce335dccfb6fec18e028db57c47255e03e0b94dc3cb07a56cf403008e05db68"}, + {file = "robotpy_rev-2023.1.3.2-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:e351eef6e4908dc78d2c7368faa97fd6c9b6e534cd875a50579b1affdf0cc1e2"}, + {file = "robotpy_rev-2023.1.3.2-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:d243b3f850b44308a46eec9d05836fb5f5bc2d1defd894f30f58ab39a691271f"}, + {file = "robotpy_rev-2023.1.3.2-cp38-cp38-win_amd64.whl", hash = "sha256:7c819ed65adcfa70fdc3175344df91ae94f335979c6f73ccaf10f9e725d0bac4"}, + {file = "robotpy_rev-2023.1.3.2-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:e4d787506ef612ad3d332598ed497cb5023ec67a6ac1ec35eab8644092255daf"}, + {file = "robotpy_rev-2023.1.3.2-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:431eda94eefaf5d7bbf8b8a7b05c12f30a89e2e1f8bd1215bed485b2b056cb9b"}, + {file = "robotpy_rev-2023.1.3.2-cp39-cp39-win_amd64.whl", hash = "sha256:fcf8227a0d3584f045f661b930677e5c729bb7b3e71289f42bc7e210936f0099"}, ] [package.dependencies] @@ -1048,14 +1048,14 @@ wpilib = ">=2023.1.1.0,<2024.0.0" [[package]] name = "robotpy-toolkit-7407" -version = "0.5.51.1" +version = "0.5.51.3" description = "FRC Wired Boars Team 7407's Toolkit for usage with RobotPy" category = "main" optional = false python-versions = ">3.9,<3.12" files = [ - {file = "robotpy_toolkit_7407-0.5.51.1-py3-none-any.whl", hash = "sha256:d84dc1d70a08ba3193b869a2703baef887f699afd33ba5c9eb22a3fbd15912e8"}, - {file = "robotpy_toolkit_7407-0.5.51.1.tar.gz", hash = "sha256:60f9fc1c699fa289de921ea5176caf1d37f3c377f1c8a97837f7675dc46a77f9"}, + {file = "robotpy_toolkit_7407-0.5.51.3-py3-none-any.whl", hash = "sha256:8935e37b38c7b651f61387204384cced48522ab773d3467ec3d195582d156032"}, + {file = "robotpy_toolkit_7407-0.5.51.3.tar.gz", hash = "sha256:fa9110f5629b267032fe92814fc37a8b70040732df7d7086f3937dde12ddaedb"}, ] [package.dependencies] @@ -1085,98 +1085,98 @@ wpilib = ">=2023.0.0b4,<2024.0.0" [[package]] name = "robotpy-wpimath" -version = "2023.2.1.1" +version = "2023.3.1.0" description = "Binary wrapper for FRC WPIMath library" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-wpimath-2023.2.1.1.tar.gz", hash = "sha256:86444f3a29d62637f44fcbbc244898d6062499f3d26322e295d914f05e6dc190"}, - {file = "robotpy_wpimath-2023.2.1.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:d00fb236a6cc07a514583778501ff5a7de6b59405b1b9c6be74e6294f851fa75"}, - {file = "robotpy_wpimath-2023.2.1.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:66f4f9a9743879c51585d3004fc17b8ca85d3136c97e0c90d3afad28ea7d2288"}, - {file = "robotpy_wpimath-2023.2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:4c0ddeea487b5f88bebabb39669b4a98d5f7de81e3931ce95b18b32145fbfc78"}, - {file = "robotpy_wpimath-2023.2.1.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:b27a05550e07746bc20055c0d713677f24dae434f8873185296617d2cd5cd308"}, - {file = "robotpy_wpimath-2023.2.1.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:6b94babe6483baaef062bbbc7d7854056b56a35db70f1d6c4d8bfef57a3f2196"}, - {file = "robotpy_wpimath-2023.2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:6e2bd8f0c4a638a25aeb79529424ed5db593c927985561a4d5248a4b61412e89"}, - {file = "robotpy_wpimath-2023.2.1.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:81a82985d8866a985c0a1f1349d635a6e368e2f8cce22318f041c0004bac0cf0"}, - {file = "robotpy_wpimath-2023.2.1.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:3ce25264703147e2104b5d0e9b267e4934b1d14aee6a6d91f601d1d67d3f81e1"}, - {file = "robotpy_wpimath-2023.2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:e6fcf71d761c4b00a16199a28bdf01200b808226e113a6646357c9d463eed58d"}, - {file = "robotpy_wpimath-2023.2.1.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:a8c2bd0a6fd6c0c41494d564a5ec34a52ab9ecaff6f159c3c6e4b08e40b58c1c"}, - {file = "robotpy_wpimath-2023.2.1.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:f1717ca094c15321e7c36968f73c956bb86640e002ab46219904d8f0673746dd"}, - {file = "robotpy_wpimath-2023.2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:17c7589f69a3e5c3d026e10e8946975fecfa61552fe786a5ada6617d6b7645fd"}, - {file = "robotpy_wpimath-2023.2.1.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:f49976034007b920ebee007d31ab0c5243cc2f662e8b33dfa90092dbac669829"}, - {file = "robotpy_wpimath-2023.2.1.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:2aa03563faab960192a96d856f79cce479da6cdcaf220935f572fabf6d18d553"}, - {file = "robotpy_wpimath-2023.2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:42595b92325c02d36a4bba78808f91daec571eb580e168a2ca5b9e97f8d2d1b2"}, + {file = "robotpy-wpimath-2023.3.1.0.tar.gz", hash = "sha256:57539bb5b423f587b64a1c56735c14d828674be68004f75f716c06058d059c7e"}, + {file = "robotpy_wpimath-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:6fb3dd8337d2030c9ff1d060725aa9b9bf93b3839c252b78d4be717ed66c580f"}, + {file = "robotpy_wpimath-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:a1dc9d03be02e225ec70121290e8b5985d258aced7e3c46e7f64ea57d6c8ed91"}, + {file = "robotpy_wpimath-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:5cdb0bbae446ab87a2334b9b6515e1a801859550a33be8e573b1bf009e0bcf2a"}, + {file = "robotpy_wpimath-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:3d0da6d4a3d36be511cf75e4ee5d2df602cb56530b9511ed177e2a3e5b9621ec"}, + {file = "robotpy_wpimath-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:dc68ce7a87009c743a7fde07f982b509cb222e65d89b7cdec162af284fa322c9"}, + {file = "robotpy_wpimath-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:a1ad016c2b444b0a25f46020ed636ff82e91e33010a431d1b73a5cd4013e0fad"}, + {file = "robotpy_wpimath-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:7f0bff04b700b68b245053a1d3e7ec34db1490265aae29d40108902de0cb7113"}, + {file = "robotpy_wpimath-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:7cb0098f10ddecb4e5bd3ed8ae8639b78d627fc5ca978f179df355a022d114c6"}, + {file = "robotpy_wpimath-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:4aea10f28faa7d7069f70744d5aed888f211eec357f987e30fa73757a8394002"}, + {file = "robotpy_wpimath-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:cafc75eb492be6cc6d5b2d24b5db2a2cf5cc720ed10c5b196ace2931234b4927"}, + {file = "robotpy_wpimath-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:fa84a55b0fbdf55ba6d7be757fcd5b588451b2de16cec6b7e950f5c72270b02e"}, + {file = "robotpy_wpimath-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:4f3fffa2d1ad6e99a44739cddbd69f8a05f759f7caa58745f0be701fc38107f8"}, + {file = "robotpy_wpimath-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:069aff6f10f263ae59855e3274636126c8c3b08082a701c0d2c16fb742701754"}, + {file = "robotpy_wpimath-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:fb6860766df01365d9ddfcb9d911974dca011adf58c6e862fac98a93337b6552"}, + {file = "robotpy_wpimath-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:722c87393929df4e0ef07d6e62b49cca9967602b7d0be8ec83106e4c213a6044"}, ] [package.dependencies] -robotpy-wpiutil = ">=2023.2.1,<2023.3.0" +robotpy-wpiutil = ">=2023.3.1,<2023.4.0" [[package]] name = "robotpy-wpinet" -version = "2023.2.1.1" +version = "2023.3.1.0" description = "Binary wrapper for FRC wpinet library" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-wpinet-2023.2.1.1.tar.gz", hash = "sha256:ffbcea709d700612ecde28f59eec23e4ebaf0dd7b746de0b0f3ace59d5a0b696"}, - {file = "robotpy_wpinet-2023.2.1.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:36b491daf7e8406b781b8b80fdadb210f88ab7387677906f70e7fca528d53214"}, - {file = "robotpy_wpinet-2023.2.1.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:19e718ac4e83a8ccbbd6d6a1011708d8d15ad7de06c121051d8dfda177ec748c"}, - {file = "robotpy_wpinet-2023.2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:bf6c62dfdf6f6c998ba0dccdd62437aa5bae3421ce3b84e16159051250d70a90"}, - {file = "robotpy_wpinet-2023.2.1.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:e0e63da81f85d940b2934f5b761cc5b4c2b0ddc10003115ffa560dbac5325125"}, - {file = "robotpy_wpinet-2023.2.1.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:f9307e532dc3e2af95c99b56277ef1ee3b4ed137e45a6fe8380e6e82e88cb761"}, - {file = "robotpy_wpinet-2023.2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:7b37ba8f05d0a5eb581d942388f38190538973403a0135038d5a7a738d625aba"}, - {file = "robotpy_wpinet-2023.2.1.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:f973f98a42d29ebf7b3ca413af15f1476f11470f48e54d2dc8045b0e0b5daf0d"}, - {file = "robotpy_wpinet-2023.2.1.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:94554c83c05536079c6aa2557185a7c7cd14b0e1e8c59e2d7de07508b9d668bc"}, - {file = "robotpy_wpinet-2023.2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:b239c37a1cce72c4ff00d9a57988b9924690d50ed2a57e00f6bdbbcec6b0f797"}, - {file = "robotpy_wpinet-2023.2.1.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:b2080c7a42126bfc307654ec687a07a83f6b7a3c84c0792df3df1329aa427201"}, - {file = "robotpy_wpinet-2023.2.1.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:86bdccb3637602462b8678f20d0b1b2ecc955c7845ca89a20a9032487fb428c3"}, - {file = "robotpy_wpinet-2023.2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:51b00902dac3c5dd861e542f3c07acbb956d3d59005a39946a120209d0b80db1"}, - {file = "robotpy_wpinet-2023.2.1.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:5787878c5fae2d11e864aae7b9c277c9657e9a088bff86bd4824aee81145cf25"}, - {file = "robotpy_wpinet-2023.2.1.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:c7ec891d77b2e432b0a41d211d98208bcdd7a49e4966eb866a215586c6b4c902"}, - {file = "robotpy_wpinet-2023.2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:52f5c1e8b34d138b79384966db2af972e2d30658034f44ea90d4c2878c2ad2f8"}, + {file = "robotpy-wpinet-2023.3.1.0.tar.gz", hash = "sha256:e5b504b528813b6c0cc4311833e11c8e3997be1574233a6748a4ab654747efa7"}, + {file = "robotpy_wpinet-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:0ddc6c1c829868c4f6a1606d01023a7fedc1c91af708525cd7f231219f968fcf"}, + {file = "robotpy_wpinet-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:92f63a385f52e160b320fcbbacc551d867f9ead92196a8ddcd31492b1a5d789a"}, + {file = "robotpy_wpinet-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:30d86d4030ca829d4f7219c38449a212fe35e53130bef493a18d13ea9234de7e"}, + {file = "robotpy_wpinet-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:cd780e8a63f334abd6a24674e4de05b628671bbb929c13edf695f26df21f5454"}, + {file = "robotpy_wpinet-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:a9a3ad0da27fc96d164c73d01ba177f6e2dc9ef3bba1922b6fb2dec89ab3b232"}, + {file = "robotpy_wpinet-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:19b44ba4030e0fbd68e8e53c42b66e8d5cf1600280b7ef2d3d2f03cbc003168f"}, + {file = "robotpy_wpinet-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:33c28e65050170573924c8c926903c52ec9bcd046c1c8bdfea33b79f1bc1be80"}, + {file = "robotpy_wpinet-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:adb2028845e939f68d4d02079e7bf9507fac08c4b2bbe0070a13309e79eb2340"}, + {file = "robotpy_wpinet-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:b76b8683e3b35b0b851f29d1db1f7768e9d9b63cf789df9c3590b37ece594dcb"}, + {file = "robotpy_wpinet-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:d12e8d00719b4e0c1f91573a9cd3c7ed8db1dd5a2a9603f8395d27254e386f62"}, + {file = "robotpy_wpinet-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:5b31ca755a05b736bc0c4c2b86886565ee587d4d7e272b45696a762f27d2d8e4"}, + {file = "robotpy_wpinet-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:657826250490dc46dd0301a7c4b921d9134a1f3fe6bc6df406824245b5d27df9"}, + {file = "robotpy_wpinet-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:69e3768ada5fd56368a652019ec5fc0160398938310d297487a169191cce61b3"}, + {file = "robotpy_wpinet-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:b1117c461440ff5502558f678272e004cff9da75bbd9e057fe3ebe0022b82f4e"}, + {file = "robotpy_wpinet-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:3af0c1cf1952a36c40d134e9cc588d4827b2ce8808d8eeb25359459c73f78127"}, ] [package.dependencies] -robotpy-wpiutil = ">=2023.2.1,<2023.3.0" +robotpy-wpiutil = ">=2023.3.1,<2023.4.0" [[package]] name = "robotpy-wpiutil" -version = "2023.2.1.1" +version = "2023.3.1.0" description = "Binary wrapper for FRC WPIUtil library" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "robotpy-wpiutil-2023.2.1.1.tar.gz", hash = "sha256:02f7ec7a6b2266e1b1c884dca86f1cd8f93fd23da491193088a0a237bc1a160f"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:b69a0d3a4638daa4bd65fe7902b2c4c7324248321a5b8b682c69f74895d0e286"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:193e05663332405f9877ddabb64f7f4fc6d8dc131678f6fa38af09551b61e0aa"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:3cb69c71d9f640989dad7c73e372116ca5b335bc423e07041b6b1b0b7104ab01"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:d2db34293c191d2d4a00ada82b016d30e9f0bfda3d91738618c40f879d9712f7"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:42763fbd6cfb55c639ade4d0f8ec3a45d31f54afdc6f983244fcc45399273952"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:02eee6cf4dadb524214d7387d941718eb8ebe27f7ddbdc1b7bb6ba2d4c42da1d"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:a26c85971ec1e8a400cf7188086ae1c7c034d090828340419fd061252b63c51d"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:ed540facb4213af0fb84337640120e8c96231b857da1632ce44e7829583a5914"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:f642925fdc858c21d40c0cbc361748157ab56971112938e219d00c2d2c27272a"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:962a1b9d6f30019c67df950e6c1eee4a043c5d6a112e7498ba18244ef6b09299"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:3ceff126ace961a0921b3b627da428cd9a59923cca55fa5271af0ea05030ec3d"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:8a34fde1c647702cf12a37fbb55a794e6cec95b8d00f1dc044bbf66261cd50f9"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:3eace831727ccbe69f5223cacbaa2f1a4407059f5334e4b5f606e6afc5209943"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:1173bd633807f8fd526fafb19efd26ad49aadcfe1a6388883dfa1f775e1357a9"}, - {file = "robotpy_wpiutil-2023.2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:5da74c7002d740b64861d0fda9405f8e11b3b19c61fb13908a4400de38209519"}, + {file = "robotpy-wpiutil-2023.3.1.0.tar.gz", hash = "sha256:90c088b7c0e22eddef098b25ff6a875c189cc6fe6a5131fe3c858ce085abbad0"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:2b5ea842856ecd631af8034f64b2ce2797c9eeade64eac149a2fdee12c1dd31b"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:0102e91f2822519a283138270b84df77b7460e065f60220a12fed58c9e8a7fd2"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:0a88f06e48058eaac543ac48ee089c373b0c3edc7c9960af93f58e74631cbe80"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:5a707ed90adb64a975c97e028be1e6cdd83b93bb5f23e9ed8bbb38ceb4308ca0"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:676c55faa4564e4bcffde2943dcb7be85ea41e76b9709a5b920ddb2a23fcd032"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:d7da02e636749afb221218495af9eba9a89d37d0215b2cf03c3cc8c119177af8"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:6501c59d1cb3e43c42d8d9287749ecbcea45d1032720e9e1ecbdefadca875dc8"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:8039802e21c8a23471f3db57a20c24caf7fbd6661647419abab6ed72dade4fa4"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:b926f940a175bff78f1da1d5efb42b4a2790e0e8c2def23f5dddc753c1289d23"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:7e431758524730a734a7aa84a13cdc22abdf5779ab828ddfe3fe92b8dfb6c249"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:8ae70c0319ac355a6f1347ae2012df62d63c56f09508d69938f910878d616097"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:cb18666d65e40645850cde12f2703f1fd55a9f5716a003a94936eaa5130cd106"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:7369f1eaa3e041da1c58e900abb6ca1ae6368cea1f206c1738c3ce8027f0d644"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:2ad81f53bb4d891535f102807fbd55d072d3fd9e1c0e0b3f428c07570ed8d067"}, + {file = "robotpy_wpiutil-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:e8a8fffb893ff5b3bc280a16dc83c06a5aaedcbf4cf097ca3ebc320c83ddb442"}, ] [[package]] name = "setuptools" -version = "67.0.0" +version = "67.1.0" description = "Easily download, build, install, upgrade, and uninstall Python packages" category = "main" optional = false python-versions = ">=3.7" files = [ - {file = "setuptools-67.0.0-py3-none-any.whl", hash = "sha256:9d790961ba6219e9ff7d9557622d2fe136816a264dd01d5997cfc057d804853d"}, - {file = "setuptools-67.0.0.tar.gz", hash = "sha256:883131c5b6efa70b9101c7ef30b2b7b780a4283d5fc1616383cdf22c83cbefe6"}, + {file = "setuptools-67.1.0-py3-none-any.whl", hash = "sha256:a7687c12b444eaac951ea87a9627c4f904ac757e7abdc5aac32833234af90378"}, + {file = "setuptools-67.1.0.tar.gz", hash = "sha256:e261cdf010c11a41cb5cb5f1bf3338a7433832029f559a6a7614bd42a967c300"}, ] [package.extras] @@ -1231,37 +1231,37 @@ testing = ["coverage (>=6.2)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7 [[package]] name = "wpilib" -version = "2023.2.1.1" +version = "2023.3.1.0" description = "Binary wrapper for FRC WPILib" category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "wpilib-2023.2.1.1-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:47292bae01e08ea645b05bfe771e84ed5b509c780e0e4cf66d5c9432db6b097d"}, - {file = "wpilib-2023.2.1.1-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:44cd46a47f3a48ed5f39ed9a3720cf563044245bf92bc7b3b2f3c57a911cffde"}, - {file = "wpilib-2023.2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:0e6097858f96e82bd9a85157348be1e5fc7caa774d32696b3adb4cf5c6c312fd"}, - {file = "wpilib-2023.2.1.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:26ba0cdef5484386df70754aeb5013e6db2c51cc59081487d6cccf16fb748379"}, - {file = "wpilib-2023.2.1.1-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:7b1f98d3ff5a0947fa46c01c3ca1e7a5c554d66084d3a43f9e2b3d90eb435cab"}, - {file = "wpilib-2023.2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:63689f818ef6ffcc285f9610dea5e37b20a0ed342315c55409eade10f28a9e42"}, - {file = "wpilib-2023.2.1.1-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:45019526162c09e3c70f07b5c12ee7f353944e86badeeeb78e3f99868d9a6fba"}, - {file = "wpilib-2023.2.1.1-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:e6fa7c7b0d910138d0ad4e33766fc580ae0f97281c8ad81ebcfef91988e6e854"}, - {file = "wpilib-2023.2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:4f5b7f526d24f1dce0f28bda05e08bfba92097a298b93be35d6d1cf4c15ac363"}, - {file = "wpilib-2023.2.1.1-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:fa4846df8eb310c5ab0bb2f9f49a8b365dc8924c8b9f78e98d050b0b9067b44a"}, - {file = "wpilib-2023.2.1.1-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:59a11236bdea0949caffabf6e8089cb5027214558ac09496e4716cb1c6fdaa98"}, - {file = "wpilib-2023.2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:acfab215fe8712650d5175f38fc31b7d826d4bc8961f42a584524aa2647a8d97"}, - {file = "wpilib-2023.2.1.1-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:9f42c2870f75a787d00d61c100e54208f072504cbc2b7d18876846e26cd1cba3"}, - {file = "wpilib-2023.2.1.1-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:97e7c7ff5c33ba8cec91b8cc8d6defb34e046c9b9d9209bd8d5c6c9ced6ee897"}, - {file = "wpilib-2023.2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:a2c351690b6c4fac4cba55842f148ddb978ff81ddef8afdff38f7e82d794f3fd"}, - {file = "wpilib-2023.2.1.1.tar.gz", hash = "sha256:9dbabffe8d36965ac10875aed050e8c0e069699d0db02757ae35cc446f88fc90"}, + {file = "wpilib-2023.3.1.0-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:1434ed5c1f0495de43f7d2ddd704e244e3be31343582c083b2e3a3d73ad1f4bc"}, + {file = "wpilib-2023.3.1.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:18a9c473080cf9bec88964cbd6d06dadf3ff7b25dfce388fd08137ba97f20d69"}, + {file = "wpilib-2023.3.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:128e46122252f2ee329dd2a9b58c3c78814b86752f2a95deaf25383f6fc33e07"}, + {file = "wpilib-2023.3.1.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:77b186fe144a64005fc51de695c3d38cb2879cb2416fad771bd0096486b9dd68"}, + {file = "wpilib-2023.3.1.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:76cc2a838c6ecdabb5400681b8de956f21d2075c7b03c213459052260fdb27a7"}, + {file = "wpilib-2023.3.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:a142b7e3744f76bbca7cddb614859a8aea0a25e34c4cffdecb6bd9410c6aeddd"}, + {file = "wpilib-2023.3.1.0-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:4ad278ec8e31240e4a438c58db323879035b2f7b279305ebc4da9c734cc7e420"}, + {file = "wpilib-2023.3.1.0-cp37-cp37m-manylinux_2_35_x86_64.whl", hash = "sha256:5aef3f6d1c3a0692b4cf8f3e560de7b8432845317bd8c17dbeb00fdc9c8e9d0d"}, + {file = "wpilib-2023.3.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:a807dba79c69697cfdf7a37e289d7554ba8b32c4bd6639d23b4e0631e3b80942"}, + {file = "wpilib-2023.3.1.0-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:63a1b080475210035dd63175a4cee9e856286c26d6ee104943709ca41977693f"}, + {file = "wpilib-2023.3.1.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:43bab5d319aa07bb27a268e1ac223d908123f16706eaae5a083346c69e2460b2"}, + {file = "wpilib-2023.3.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:9a3b89458a24f4a615024fcae6b2dd3146d5587d18b5ed80851f08e5b79b076b"}, + {file = "wpilib-2023.3.1.0-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:b603c66fc90a8ef4e625fff1ec3deb7c1c10f7a5b8c71245ed934afc258778dd"}, + {file = "wpilib-2023.3.1.0-cp39-cp39-manylinux_2_35_x86_64.whl", hash = "sha256:2bf78b108e72d9fb6f7b353fb1c87e4a6f27e1bfdbc5c6c1472f3fd5539a69b0"}, + {file = "wpilib-2023.3.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:2759706d5f8c57e5844efd8bfb61a68741d505906da5b027478e970e995cdfaa"}, + {file = "wpilib-2023.3.1.0.tar.gz", hash = "sha256:30f91904847ac1a9c872ef9446cbeeeedecab037d9d9bbf8ad0011f7775b59a8"}, ] [package.dependencies] -pyntcore = ">=2023.2.1,<2023.3.0" -robotpy-hal = ">=2023.2.1,<2023.3.0" -robotpy-wpimath = ">=2023.2.1,<2023.3.0" -robotpy-wpiutil = ">=2023.2.1,<2023.3.0" +pyntcore = ">=2023.3.1,<2023.4.0" +robotpy-hal = ">=2023.3.1,<2023.4.0" +robotpy-wpimath = ">=2023.3.1,<2023.4.0" +robotpy-wpiutil = ">=2023.3.1,<2023.4.0" [metadata] lock-version = "2.0" python-versions = ">3.9,<3.12" -content-hash = "31b8107e44acbec4f5dd633beaf2f8bb12df05528af1d739847e7046d50dd852" +content-hash = "78243321eeca611101786cb2ae253b5ac2da307a01c734e3075a91c72ff19b62" diff --git a/simgui-window.json b/simgui-window.json index d80c6ec..5a17fd3 100644 --- a/simgui-window.json +++ b/simgui-window.json @@ -1,8 +1,12 @@ { + "Docking": { + "Data": [] + }, "MainWindow": { "GLOBAL": { + "fps": "120", "height": "1016", - "maximized": "0", + "maximized": "1", "style": "0", "userScale": "2", "width": "638", @@ -19,7 +23,7 @@ "###Joysticks": { "Collapsed": "0", "Pos": "439,598", - "Size": "632,73" + "Size": "796,73" }, "###NetworkTables": { "Collapsed": "0", From f385af1e2cef775735beda2520a21fa1f21b78e2 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 10 Feb 2023 14:59:35 -0500 Subject: [PATCH 10/12] Unit integration but it's not broken. --- autonomous/auto_routine.py | 2 +- autonomous/routines/square_auto/square_auto.py | 13 +++++++------ config.py | 2 +- robot.py | 2 +- robot_systems.py | 4 ---- sensors/__init__.py | 2 +- sensors/field_odometry.py | 15 ++++++++------- subsystem/drivetrain.py | 7 ++++--- units/SI.py | 11 ++++++++--- units/__init__.py | 2 +- utils/data_log.py | 2 +- 11 files changed, 33 insertions(+), 29 deletions(-) diff --git a/autonomous/auto_routine.py b/autonomous/auto_routine.py index c86b999..a23eff0 100644 --- a/autonomous/auto_routine.py +++ b/autonomous/auto_routine.py @@ -26,7 +26,7 @@ def run(self): Runs the autonomous routine """ - Robot.drivetrain.gyro.reset_angle(self.initial_robot_pose.rotation().degrees()) + Robot.drivetrain.gyro.reset_angle(self.initial_robot_pose.rotation().radians()) Robot.drivetrain.reset_odometry(self.initial_robot_pose) commands2.CommandScheduler.getInstance().schedule(self.command) diff --git a/autonomous/routines/square_auto/square_auto.py b/autonomous/routines/square_auto/square_auto.py index 9bff3fb..dfb4569 100644 --- a/autonomous/routines/square_auto/square_auto.py +++ b/autonomous/routines/square_auto/square_auto.py @@ -1,6 +1,6 @@ import math -from commands2 import SequentialCommandGroup, InstantCommand +from commands2 import InstantCommand, SequentialCommandGroup from wpimath.geometry import Pose2d import constants @@ -8,13 +8,14 @@ from autonomous.utils.custom_pathing import FollowPathCustom, RotateInPlace from autonomous.utils.trajectory import CustomTrajectory from robot_systems import Robot +from units.SI import meters, meters_per_second, meters_per_second_squared from utils import logger -max_vel = 1 -max_accel = 2 +max_vel: meters_per_second = 1 +max_accel: meters_per_second_squared = 2 -field_length = 2.896 - constants.robot_length -field_width = 2.629 - constants.robot_length +field_length: meters = 2.896 - constants.robot_length +field_width: meters = 2.629 - constants.robot_length path_1 = FollowPathCustom( subsystem=Robot.drivetrain, @@ -163,4 +164,4 @@ ), ) -routine = AutoRoutine(Pose2d(0, 0, math.radians(270)), auto) +routine = AutoRoutine(Pose2d(0, 0, math.radians(90)), auto) diff --git a/config.py b/config.py index 224a210..01bdccb 100644 --- a/config.py +++ b/config.py @@ -1 +1 @@ -red_team = False +red_team: bool = False diff --git a/robot.py b/robot.py index bcd21ee..ba7ea5d 100644 --- a/robot.py +++ b/robot.py @@ -39,7 +39,7 @@ def robotInit(self): # self.start_robot_pose = Sensors.odometry.get_robot_pose() def robotPeriodic(self): - Robot.drivetrain.logger_periodic() + # Robot.drivetrain.logger_periodic() Sensors.odometry.update() SmartDashboard.putString("ODOM", str(Robot.drivetrain.odometry.getPose())) SmartDashboard.putString("FDOM", str(Sensors.odometry.getPose())) diff --git a/robot_systems.py b/robot_systems.py index 0d553b2..36b6d9e 100644 --- a/robot_systems.py +++ b/robot_systems.py @@ -1,5 +1,3 @@ -from robotpy_toolkit_7407.sensors.limelight import Limelight, LimelightController - import subsystem from sensors import FieldOdometry, PV_Cameras @@ -15,6 +13,4 @@ class Pneumatics: class Sensors: odometry: FieldOdometry - limelight_front: Limelight - limelight_controller: LimelightController pv_controller: PV_Cameras diff --git a/sensors/__init__.py b/sensors/__init__.py index 8e20ac0..1e110a9 100644 --- a/sensors/__init__.py +++ b/sensors/__init__.py @@ -1,2 +1,2 @@ from sensors.field_odometry import FieldOdometry -from sensors.pv_cameras import PV_Cameras \ No newline at end of file +from sensors.pv_cameras import PV_Cameras diff --git a/sensors/field_odometry.py b/sensors/field_odometry.py index fa1bb5a..c254c7b 100644 --- a/sensors/field_odometry.py +++ b/sensors/field_odometry.py @@ -5,6 +5,7 @@ from wpimath.geometry import Pose2d, Pose3d, Rotation2d, Translation2d from subsystem import Drivetrain +from units.SI import seconds def weighted_pose_average( @@ -52,16 +53,16 @@ class FieldOdometry: def __init__( self, drivetrain: Drivetrain, vision_estimator: VisionEstimator | None ): - self.drivetrain = drivetrain + self.drivetrain: Drivetrain = drivetrain - self.last_update_time = None - self.min_update_wait_time = ( - 0.05 # seconds to wait before checking for pose update + self.last_update_time: seconds | None = None + self.min_update_wait_time: seconds = ( + 0.05 # time to wait before checking for pose update ) - self.vision_estimator = vision_estimator - self.vision_estimator_pose_weight = 0.1 - self.robot_pose_weight = 1 - self.vision_estimator_pose_weight + self.vision_estimator: VisionEstimator = vision_estimator + self.vision_estimator_pose_weight: float = 0.1 + self.robot_pose_weight: float = 1 - self.vision_estimator_pose_weight def update(self) -> Pose2d: """ diff --git a/subsystem/drivetrain.py b/subsystem/drivetrain.py index 2a74b07..37ece6c 100644 --- a/subsystem/drivetrain.py +++ b/subsystem/drivetrain.py @@ -19,6 +19,7 @@ import constants from oi.keymap import Keymap +from units.SI import degrees TURN_CONFIG = SparkMaxConfig( 0.2, 0, 0.003, 0.00015, (-0.5, 0.5), rev.CANSparkMax.IdleMode.kBrake @@ -134,11 +135,11 @@ class Drivetrain(SwerveDrivetrain): max_angular_vel: radians_per_second = constants.drivetrain_max_angular_vel deadzone_velocity: meters_per_second = 0.01 deadzone_angular_velocity: radians_per_second = math.radians(5) - start_angle = 0 + start_angle: degrees = 0 start_pose: Pose2d = Pose2d( 0.0254 * (40.45 + 17.625) + constants.track_width / 2, 0.0254 * 42.19, math.radians(start_angle), ) - gyro_start_angle = start_angle - gyro_offset = math.radians(0) + gyro_start_angle: radians = math.radians(start_angle) + gyro_offset: radians = math.radians(0) diff --git a/units/SI.py b/units/SI.py index 6b00a10..981b798 100644 --- a/units/SI.py +++ b/units/SI.py @@ -4,7 +4,7 @@ # Distance import math -import config + import constants meters = float @@ -73,6 +73,7 @@ # Velocity meters_per_second = float +meters_per_second_squared = float radians_per_second = float radians_per_second__to__degrees_per_second = radians_to_degrees @@ -87,10 +88,14 @@ rotations_per_second__to__degrees_per_second = rotations_to_degrees rotation_motor_encoder_units = float -rotation_motor_encoder_units__to__swerve_pod_rotations = 1 / constants.drivetrain_turn_gear_ratio +rotation_motor_encoder_units__to__swerve_pod_rotations = ( + 1 / constants.drivetrain_turn_gear_ratio +) swerve_pod_rotations = float -swerve_pod_rotations__to__rotation_motor_encoder_units = 1 / rotation_motor_encoder_units__to__swerve_pod_rotations +swerve_pod_rotations__to__rotation_motor_encoder_units = ( + 1 / rotation_motor_encoder_units__to__swerve_pod_rotations +) drive_motor_encoder_units = float drive_motor_encoder_units__to__meters = 1 / constants.drivetrain_move_gear_ratio diff --git a/units/__init__.py b/units/__init__.py index ea20679..c239a74 100644 --- a/units/__init__.py +++ b/units/__init__.py @@ -1 +1 @@ -import SI +import units.SI diff --git a/utils/data_log.py b/utils/data_log.py index 492307f..a859a37 100644 --- a/utils/data_log.py +++ b/utils/data_log.py @@ -3,6 +3,6 @@ from robotpy_toolkit_7407.utils.data_log import Logger logger = Logger( - debug=True, + debug=False, filename=f"custom_logs/custom_logging_{datetime.datetime.now().strftime('%Y-%m-%d_%H-%M-%S')}.log", ) From 98575f294ed73c3daa808704283af21dc2ccf079 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 10 Feb 2023 15:08:55 -0500 Subject: [PATCH 11/12] Works. --- constants.py | 2 +- sensors/pv_cameras.py | 75 ++++++++++++++++++++----------------------- units/SI.py | 42 +++++++++--------------- 3 files changed, 52 insertions(+), 67 deletions(-) diff --git a/constants.py b/constants.py index 12dc9da..1fcc0f3 100644 --- a/constants.py +++ b/constants.py @@ -32,7 +32,7 @@ kMetersPerInch = kCentimetersPerInch / kCentimetersPerMeter -kApriltagPositionDict = { +ApriltagPositionDict = { 1: Pose3d( (kMetersPerInch * 610.77), (kMetersPerInch * 42.19), diff --git a/sensors/pv_cameras.py b/sensors/pv_cameras.py index fa007a5..6775a09 100644 --- a/sensors/pv_cameras.py +++ b/sensors/pv_cameras.py @@ -1,57 +1,52 @@ from photonvision import PhotonCamera from robotpy_toolkit_7407.sensors.odometry import VisionEstimator -from wpilib import SmartDashboard, Timer +from wpilib import Timer +from wpimath.geometry import Transform3d import constants +class Camera: + def __init__(self, camera_name): + self.camera = PhotonCamera(cameraName=camera_name) + self.offset = constants.kCameras[camera_name][0] + + def get_estimated_transforms(self) -> list[tuple[int, Transform3d]]: + """ + :return: A list of tuples of the form (tag_id, transform_camera_to_target) + :rtype: list[tuple[int, Transform3d]] + """ + cameraToTargets = [] + photonResult = self.camera.getLatestResult() + if photonResult.hasTargets(): + cameraToTargets += [ + (target.getFiducialId(), target.getBestCameraToTarget()) + for target in photonResult.getTargets() + ] + return cameraToTargets + + class PV_Cameras(VisionEstimator): def __init__(self): super().__init__() - self.cameras = [ - ( - PhotonCamera(cameraName=camera_name), - constants.kCameras[camera_name][0], - ) - for camera_name in constants.kCameras - ] - - def get_estimated_robot_pose(self): - """this function returns a list of the type (target_id, transformCameraToTarget) for every target""" - derivedRobotPoses = [] - for camera in self.cameras: # Iterate through all cameras - cameraToTargets = [] - photonResult = camera[0].getLatestResult() - if photonResult.hasTargets(): # If we have any targets - cameraToTargets += [ - (target.getFiducialId(), target.getBestCameraToTarget()) - for target in photonResult.getTargets() - if target.getPoseAmbiguity() < 0.4 - ] + self.cameras = [Camera(camera_name) for camera_name in constants.kCameras] - if cameraToTargets != 0: # If we have any targets - for tag_id, point in cameraToTargets: - SmartDashboard.putNumberArray( - "OrigCamPose", - [ - (constants.kApriltagPositionDict[tag_id] + point.inverse()) - .toPose2d() - .X(), - (constants.kApriltagPositionDict[tag_id] + point.inverse()) - .toPose2d() - .Y(), - (constants.kApriltagPositionDict[tag_id] + point.inverse()) - .toPose2d() - .rotation() - .radians(), - ], - ) + def get_estimated_robot_pose(self) -> list[tuple[Transform3d, float]]: + """ + Gets the estimated robot pose from the cameras with FPGA Timestamp + :return: A list of tuples of the form (pose, timestamp) + :rtype: list[tuple[Transform3d, float]] + """ + derivedRobotPoses = [] + for camera in self.cameras: + cameraToTargets = camera.get_estimated_transforms() + if cameraToTargets != 0: derivedRobotPoses += [ ( - constants.kApriltagPositionDict[tag_id] + constants.ApriltagPositionDict[tag_id] + point.inverse() - + camera[1].inverse(), + + camera.offset.inverse(), Timer.getFPGATimestamp(), ) for tag_id, point in cameraToTargets diff --git a/units/SI.py b/units/SI.py index 981b798..0c3a759 100644 --- a/units/SI.py +++ b/units/SI.py @@ -4,8 +4,7 @@ # Distance import math - -import constants +from typing import Type meters = float meters_to_inches = 39.3701 @@ -72,32 +71,23 @@ days_to_hours = days_to_seconds * seconds_to_hours # Velocity -meters_per_second = float -meters_per_second_squared = float - -radians_per_second = float -radians_per_second__to__degrees_per_second = radians_to_degrees -radians_per_second__to__rotations_per_second = radians_to_rotations - -degrees_per_second = float -degrees_per_second__to__radians_per_second = degrees_to_radians -degrees_per_second__to__rotations_per_second = degrees_to_rotations +meters_per_second: Type[float] = float +meters_per_second_squared: Type[float] = float -rotations_per_second = float -rotations_per_second__to__radians_per_second = rotations_to_radians -rotations_per_second__to__degrees_per_second = rotations_to_degrees +radians_per_second: Type[float] = float +radians_per_second__to__degrees_per_second: float = radians_to_degrees +radians_per_second__to__rotations_per_second: float = radians_to_rotations -rotation_motor_encoder_units = float -rotation_motor_encoder_units__to__swerve_pod_rotations = ( - 1 / constants.drivetrain_turn_gear_ratio -) +degrees_per_second: Type[float] = float +degrees_per_second__to__radians_per_second: float = degrees_to_radians +degrees_per_second__to__rotations_per_second: float = degrees_to_rotations -swerve_pod_rotations = float -swerve_pod_rotations__to__rotation_motor_encoder_units = ( - 1 / rotation_motor_encoder_units__to__swerve_pod_rotations -) +rotations_per_second: Type[float] = float +rotations_per_second__to__radians_per_second: float = rotations_to_radians +rotations_per_second__to__degrees_per_second: int = rotations_to_degrees -drive_motor_encoder_units = float -drive_motor_encoder_units__to__meters = 1 / constants.drivetrain_move_gear_ratio +rotations_per_minute: Type[float] = float +rotations_per_minute_per_meter: Type[float] = float -meters__to__drive_motor_encoder_units = 1 / drive_motor_encoder_units__to__meters +miles_per_hour: Type[float] = float +miles_per_hour_to_meters_per_second: float = miles_to_meters * hours_to_seconds From a603211b1611ea5abc9a5aa593f68e970ef791e0 Mon Sep 17 00:00:00 2001 From: Sidharth Rao Date: Fri, 10 Feb 2023 15:25:51 -0500 Subject: [PATCH 12/12] Abstracted Gyro. --- robot.py | 1 + robot_systems.py | 3 +++ 2 files changed, 4 insertions(+) diff --git a/robot.py b/robot.py index ba7ea5d..2cad549 100644 --- a/robot.py +++ b/robot.py @@ -34,6 +34,7 @@ def robotInit(self): # Sensors.pv_controller = PV_Cameras() Sensors.odometry = FieldOdometry(Robot.drivetrain, None) + Sensors.gyro = Robot.drivetrain.gyro # self.start_limelight_pose = Sensors.limelight_controller.get_estimated_robot_pose()[0].toPose2d() # self.start_robot_pose = Sensors.odometry.get_robot_pose() diff --git a/robot_systems.py b/robot_systems.py index 36b6d9e..b8ca785 100644 --- a/robot_systems.py +++ b/robot_systems.py @@ -1,3 +1,5 @@ +from robotpy_toolkit_7407.subsystem_templates.drivetrain import SwerveGyro + import subsystem from sensors import FieldOdometry, PV_Cameras @@ -14,3 +16,4 @@ class Pneumatics: class Sensors: odometry: FieldOdometry pv_controller: PV_Cameras + gyro: SwerveGyro