From 12fbc3fb57bf498494b09797e1d8e7a80e91f1b7 Mon Sep 17 00:00:00 2001
From: shueja <32416547+shueja@users.noreply.github.com>
Date: Thu, 28 Nov 2024 00:23:23 -0800
Subject: [PATCH] Create test json dir (#958)

---
 .../beta-6/differential/differential.chor     |  97 +++++++++++++++
 .../beta-6/differential/differential.traj     |  85 ++++++++++++++
 test-jsons/beta-6/swerve/swerve.chor          |  97 +++++++++++++++
 test-jsons/beta-6/swerve/swerve.traj          | 111 ++++++++++++++++++
 4 files changed, 390 insertions(+)
 create mode 100644 test-jsons/beta-6/differential/differential.chor
 create mode 100644 test-jsons/beta-6/differential/differential.traj
 create mode 100644 test-jsons/beta-6/swerve/swerve.chor
 create mode 100644 test-jsons/beta-6/swerve/swerve.traj

diff --git a/test-jsons/beta-6/differential/differential.chor b/test-jsons/beta-6/differential/differential.chor
new file mode 100644
index 000000000..e3f03a8d8
--- /dev/null
+++ b/test-jsons/beta-6/differential/differential.chor
@@ -0,0 +1,97 @@
+{
+ "name":"differential",
+ "version":"v2025.0.0",
+ "type":"Differential",
+ "variables":{
+  "expressions":{
+   "num":{
+    "dimension":"Number",
+    "var":{
+     "exp":"0",
+     "val":0.0
+    }
+   }
+  },
+  "poses":{
+   "pose":{
+    "x":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "y":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.5",
+   "val":6.5
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"6000 RPM",
+   "val":628.3185307179587
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[]
+}
diff --git a/test-jsons/beta-6/differential/differential.traj b/test-jsons/beta-6/differential/differential.traj
new file mode 100644
index 000000000..1f8e72750
--- /dev/null
+++ b/test-jsons/beta-6/differential/differential.traj
@@ -0,0 +1,85 @@
+{
+ "name":"differential",
+ "version":"v2025.0.0",
+ "snapshot":{
+  "waypoints":[
+    {"x":1.0, "y":1.0, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":1.0, "heading":0.0, "intervals":14, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":3.0, "y":1.0, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.54, "h":8.21}}, "enabled":true},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":10.0}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"PointAt", "props":{"x":0.0, "y":1.0, "tolerance":0.017453292519943295, "flip":true}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepInCircle", "props":{"x":2.9236248955130577, "y":0.9550507944077252, "r":1.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":3.13802407681942, "y":3.2159875966608524, "r":1.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1 m", "val":1.0}, "y":{"exp":"1 m", "val":1.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"1 m", "val":1.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"3 m", "val":3.0}, "y":{"exp":"1 m", "val":1.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.54 m", "val":16.54}, "h":{"exp":"8.21 m", "val":8.21}}}, "enabled":true},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"10 m / s ^ 2", "val":10.0}}}, "enabled":true},
+    {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"PointAt", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"1 m", "val":1.0}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":true}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepInCircle", "props":{"x":{"exp":"2.9236248955130577 m", "val":2.9236248955130577}, "y":{"exp":"0.9550507944077253 m", "val":0.9550507944077252}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"3.13802407681942 m", "val":3.13802407681942}, "y":{"exp":"3.2159875966608524 m", "val":3.2159875966608524}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "waypoints":[0.0,1.3316315160781926,1.3316422625088873],
+  "samples":[
+    {"t":0.0, "x":0.9999999999999936, "y":0.9999999999997023, "heading":0.0, "vl":0.0, "vr":0.0, "al":4.512379075356372, "ar":4.512379697740512, "fl":153.50855256221604, "fr":153.50857648033207},
+    {"t":0.09511653686272806, "x":1.020412099216918, "y":1.0000000000516478, "heading":5.104347395657512e-9, "vl":0.42920187097678936, "vr":0.429201930565972, "al":4.51219343263156, "ar":4.512193992784528, "fl":153.5022372401842, "fr":153.50225876676697},
+    {"t":0.19023307372545611, "x":1.081647556953533, "y":1.0000000008234953, "heading":1.9907119143467584e-8, "vl":0.8583860843432763, "vr":0.8583861975556272, "al":4.511925325863532, "ar":4.511925747821059, "fl":153.49311670610865, "fr":153.49313292186423},
+    {"t":0.2853496105881842, "x":1.1837043202005255, "y":1.00000000405135, "heading":4.276305432728662e-8, "vl":1.2875447964596032, "vr":1.2875449500649767, "al":4.511504070071746, "ar":4.51150423863458, "fl":153.47878638392186, "fr":153.47879286176268},
+    {"t":0.38046614745091223, "x":1.3265792697167884, "y":1.0000000122239787, "heading":7.046317888797223e-8, "vl":1.7166634404216017, "vr":1.71666361017496, "al":4.510745953054635, "ar":4.510745651009464, "fl":153.45299671461723, "fr":153.45298510707295},
+    {"t":0.47558268431364026, "x":1.5102670689390123, "y":1.0000000278008865, "heading":9.707885966500637e-8, "vl":2.145709975395425, "vr":2.145710116280348, "al":4.508977867932442, "ar":4.508976517106787, "fl":153.3928497833183, "fr":153.39279787131943},
+    {"t":0.5706992211763683, "x":1.7347562870978623, "y":1.0000000514814134, "heading":1.1016754360582416e-7, "vl":2.574588337597034, "vr":2.574588349273531, "al":4.5001661001389905, "ar":4.500161123692404, "fl":153.0930864807406, "fr":153.09289523674963},
+    {"t":0.6658157580390963, "x":1.9999990559440484, "y":1.0000000766780512, "heading":7.120522369128505e-8, "vl":3.002628567826223, "vr":3.0026281020076193, "al":-4.500137005694301, "ar":-4.5001371617840675, "fl":-153.09208538610935, "fr":-153.09209138461236},
+    {"t":0.7609322949018243, "x":2.2652419444912812, "y":1.0000000849746202, "heading":-9.837064485292364e-9, "vl":2.57459110537499, "vr":2.5745906257731037, "al":-4.508974122568977, "ar":-4.508972751571274, "fl":-153.39272241267986, "fr":-153.3926697254727},
+    {"t":0.8560488317645524, "x":2.4897314193395728, "y":1.0000000745737945, "heading":-8.069767383201193e-8, "vl":2.1457130993720455, "vr":2.145712751140719, "al":-4.510744597582283, "ar":-4.510743429949838, "fl":-153.45295251101706, "fr":-153.45290763910194},
+    {"t":0.9511653686272804, "x":2.6734195004439343, "y":1.0000000548914794, "heading":-1.307291530486803e-7, "vl":1.7166666932431445, "vr":1.7166664567358172, "al":-4.511503430085172, "ar":-4.511502522625177, "fl":-153.478766984791, "fr":-153.4787321112586},
+    {"t":1.0462819054900083, "x":2.816294745348478, "y":1.0000000336191353, "heading":-1.637684729679571e-7, "vl":1.2875481100709896, "vr":1.2875479603496172, "al":-4.511925000214646, "ar":-4.511924314701713, "fl":-153.4931080699144, "fr":-153.49308172576966},
+    {"t":1.1413984423527366, "x":2.918351813341242, "y":1.000000015705434, "heading":-1.837741220268109e-7, "vl":0.8583894288559603, "vr":0.8583893446754909, "al":-4.512193265941773, "ar":-4.512192758140522, "fl":-153.5022339245463, "fr":-153.50221440983108},
+    {"t":1.2365149792154646, "x":2.9795875829970244, "y":1.0000000040271493, "heading":-1.9402118624099924e-7, "vl":0.4292052312871755, "vr":0.42920519564572784, "al":-4.512378985860456, "ar":-4.512378612903242, "fl":-153.50855171254355, "fr":-153.50853737986156},
+    {"t":1.3316315160781926, "x":2.9999999999733657, "y":0.9999999999980244, "heading":-1.9706894412839938e-7, "vl":3.368785734482926e-6, "vr":3.3687857485598475e-6, "al":0.28382263844995004, "ar":0.2838226201318591, "fl":9.65548378295751, "fr":9.655483078996411},
+    {"t":1.331632283680385, "x":2.9999999999759996, "y":0.999999999998155, "heading":-1.9706888484438722e-7, "vl":3.5882810461865066e-6, "vr":3.5882810462079966e-6, "al":0.1585616831394997, "ar":0.15856168343713686, "fl":5.394177722826253, "fr":5.3941777342643995},
+    {"t":1.3316330512825776, "x":2.999999999978762, "y":0.9999999999982851, "heading":-1.9706882556409525e-7, "vl":3.711070097018435e-6, "vr":3.7110700970228265e-6, "al":0.024720032012966804, "ar":0.024720032302784346, "fl":0.8409613424037055, "fr":0.8409613535413439},
+    {"t":1.33163381888477, "x":2.999999999981575, "y":0.9999999999984152, "heading":-1.9706876628656117e-7, "vl":3.7305335181357433e-6, "vr":3.730533518142396e-6, "al":-0.10493735898012084, "ar":-0.1049373587395229, "fl":-3.569908902630601, "fr":-3.5699088933844636},
+    {"t":1.3316345864869623, "x":2.9999999999843645, "y":0.9999999999985464, "heading":-1.970687070119138e-7, "vl":3.649902817805863e-6, "vr":3.649902817816669e-6, "al":-0.22165280599807857, "ar":-0.22165280584278785, "fl":-7.540501619578849, "fr":-7.5405016136110525},
+    {"t":1.331635354089155, "x":2.999999999987057, "y":0.999999999998676, "heading":-1.970686477396788e-7, "vl":3.4791669024049343e-6, "vr":3.47916690241992e-6, "al":-0.3199817386390008, "ar":-0.31998173860566026, "fl":-10.885595639022394, "fr":-10.885595637741122},
+    {"t":1.3316361216913477, "x":2.9999999999895905, "y":0.9999999999988072, "heading":-1.970685884709742e-7, "vl":3.232516562911719e-6, "vr":3.232516562928935e-6, "al":-0.3971195757286614, "ar":-0.3971195758376585, "fl":-13.509780714371493, "fr":-13.509780718560233},
+    {"t":1.33163688929354, "x":2.999999999991915, "y":0.9999999999989376, "heading":-1.970685292049327e-7, "vl":2.9263086843457004e-6, "vr":2.926308684361278e-6, "al":-0.45261390709288746, "ar":-0.45261390733105206, "fl":-15.397666110466496, "fr":-15.397666119619124},
+    {"t":1.3316376568957324, "x":2.9999999999939906, "y":0.999999999999068, "heading":-1.9706846994155426e-7, "vl":2.5772515478414027e-6, "vr":2.5772515478509576e-6, "al":-0.4886987169116813, "ar":-0.4886987172317576, "fl":-16.625250690788814, "fr":-16.625250703089293},
+    {"t":1.331638424497925, "x":2.999999999995791, "y":0.9999999999991978, "heading":-1.970684106807237e-7, "vl":2.2003306639356037e-6, "vr":2.200330663932631e-6, "al":-0.5239860720416862, "ar":-0.52398607233341, "fl":-17.82570631918513, "fr":-17.825706330396024},
+    {"t":1.3316391921001174, "x":2.9999999999972946, "y":0.9999999999993284, "heading":-1.970683514225901e-7, "vl":1.7961606978565586e-6, "vr":1.7961606978408832e-6, "al":-0.560614452039411, "ar":-0.5606144521836791, "fl":-19.07178284644244, "fr":-19.071782851986647},
+    {"t":1.33163995970231, "x":2.999999999998483, "y":0.9999999999994588, "heading":-1.97068292167804e-7, "vl":1.363704842851081e-6, "vr":1.3637048428360662e-6, "al":-0.5909887365443778, "ar":-0.5909887365594542, "fl":-20.105098623901995, "fr":-20.105098624481386},
+    {"t":1.3316407273045023, "x":2.9999999999993334, "y":0.9999999999995892, "heading":-1.970682329158774e-7, "vl":9.07791710006498e-7, "vr":9.077917099968428e-7, "al":-0.5842514576051574, "ar":-0.5842514575394768, "fl":-19.87590024997568, "fr":-19.87590024745159},
+    {"t":1.3316414949066948, "x":2.999999999999841, "y":0.9999999999997196, "heading":-1.9706817366680365e-7, "vl":4.570816898747113e-7, "vr":4.570816898719033e-7, "al":-0.5925018480000925, "ar":-0.5925018479089388, "fl":-20.156573809981644, "fr":-20.156573806478615},
+    {"t":1.3316422625088873, "x":3.0000000000000058, "y":0.99999999999985, "heading":-1.970681144202439e-7, "vl":0.0, "vr":0.0, "al":0.0, "ar":0.0, "fl":0.0, "fr":0.0}],
+  "splits":[0]
+ },
+ "events":[
+   {"name":"Marker", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":null},
+   {"name":"Marker", "from":{"target":2, "targetTimestamp":1.3316422625088873, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[
+       {"type":"parallel", "data":{"commands":[
+          {"type":"deadline", "data":{"commands":[
+             {"type":"race", "data":{"commands":[
+                {"type":"named", "data":{"name":"cmd"}},
+                {"type":"wait", "data":{"waitTime":{"exp":"0 s", "val":0.0}}}]}}]}}]}}]}}}]
+}
diff --git a/test-jsons/beta-6/swerve/swerve.chor b/test-jsons/beta-6/swerve/swerve.chor
new file mode 100644
index 000000000..25482883b
--- /dev/null
+++ b/test-jsons/beta-6/swerve/swerve.chor
@@ -0,0 +1,97 @@
+{
+ "name":"swerve",
+ "version":"v2025.0.0",
+ "type":"Swerve",
+ "variables":{
+  "expressions":{
+   "num":{
+    "dimension":"Number",
+    "var":{
+     "exp":"0",
+     "val":0.0
+    }
+   }
+  },
+  "poses":{
+   "pose":{
+    "x":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "y":{
+     "exp":"0 m",
+     "val":0.0
+    },
+    "heading":{
+     "exp":"0 rad",
+     "val":0.0
+    }
+   }
+  }
+ },
+ "config":{
+  "frontLeft":{
+   "x":{
+    "exp":"11 in",
+    "val":0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "backLeft":{
+   "x":{
+    "exp":"-11 in",
+    "val":-0.2794
+   },
+   "y":{
+    "exp":"11 in",
+    "val":0.2794
+   }
+  },
+  "mass":{
+   "exp":"150 lbs",
+   "val":68.0388555
+  },
+  "inertia":{
+   "exp":"6 kg m ^ 2",
+   "val":6.0
+  },
+  "gearing":{
+   "exp":"6.5",
+   "val":6.5
+  },
+  "radius":{
+   "exp":"2 in",
+   "val":0.0508
+  },
+  "vmax":{
+   "exp":"6000 RPM",
+   "val":628.3185307179587
+  },
+  "tmax":{
+   "exp":"1.2 N * m",
+   "val":1.2
+  },
+  "bumper":{
+   "front":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "side":{
+    "exp":"16 in",
+    "val":0.4064
+   },
+   "back":{
+    "exp":"16 in",
+    "val":0.4064
+   }
+  },
+  "differentialTrackWidth":{
+   "exp":"22 in",
+   "val":0.5588
+  }
+ },
+ "generationFeatures":[]
+}
diff --git a/test-jsons/beta-6/swerve/swerve.traj b/test-jsons/beta-6/swerve/swerve.traj
new file mode 100644
index 000000000..d7555f045
--- /dev/null
+++ b/test-jsons/beta-6/swerve/swerve.traj
@@ -0,0 +1,111 @@
+{
+ "name":"swerve",
+ "version":"v2025.0.0",
+ "snapshot":{
+  "waypoints":[
+    {"x":1.0, "y":1.0, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":2.0, "y":2.0, "heading":0.0, "intervals":16, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":3.0, "y":3.0, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.54, "h":8.21}}, "enabled":true},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":1.0}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":10.0}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"PointAt", "props":{"x":0.0, "y":3.0, "tolerance":0.017453292519943295, "flip":false}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepInCircle", "props":{"x":3.008779128082097, "y":2.9378172513097525, "r":1.0}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true},
+    {"from":1, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":3.0, "y":0.0, "r":1.0}}, "enabled":true}],
+  "targetDt":0.05
+ },
+ "params":{
+  "waypoints":[
+    {"x":{"exp":"1 m", "val":1.0}, "y":{"exp":"1 m", "val":1.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"2 m", "val":2.0}, "y":{"exp":"2 m", "val":2.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":false, "fixHeading":false, "overrideIntervals":false},
+    {"x":{"exp":"3 m", "val":3.0}, "y":{"exp":"3 m", "val":3.0}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}],
+  "constraints":[
+    {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
+    {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.54 m", "val":16.54}, "h":{"exp":"8.21 m", "val":8.21}}}, "enabled":true},
+    {"from":0, "to":0, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1 m / s", "val":1.0}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"10 m / s ^ 2", "val":10.0}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"PointAt", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"3 m", "val":3.0}, "tolerance":{"exp":"1 deg", "val":0.017453292519943295}, "flip":false}}, "enabled":true},
+    {"from":2, "to":2, "data":{"type":"KeepInCircle", "props":{"x":{"exp":"3.0087791280820966 m", "val":3.008779128082097}, "y":{"exp":"2.9378172513097525 m", "val":2.9378172513097525}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true},
+    {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true},
+    {"from":1, "to":1, "data":{"type":"KeepOutCircle", "props":{"x":{"exp":"3 m", "val":3.0}, "y":{"exp":"0 m", "val":0.0}, "r":{"exp":"1 m", "val":1.0}}}, "enabled":true}],
+  "targetDt":{
+   "exp":"0.05 s",
+   "val":0.05
+  }
+ },
+ "trajectory":{
+  "waypoints":[0.0,2.5256481440269156,2.525657212804956],
+  "samples":[
+    {"t":0.0, "x":1.0000000000216895, "y":1.0000000000215898, "heading":1.0222193014668131e-9, "vx":2.7030486051672776e-11, "vy":2.6946054433395735e-11, "omega":5.910104497227957e-10, "ax":2.142954294244472, "ay":2.1263316309929188, "alpha":2.1660294150841044, "fx":[30.646621328471163,30.630351047241128,42.25215455580278,42.275030637689], "fy":[41.98714220379829,30.362038901804095,30.34229332542025,41.98169615518385]},
+    {"t":0.09354252385284872, "x":1.009375643542076, "y":1.009302917699441, "heading":2.099856756595266e-9, "vx":0.20045735514237956, "vy":0.19890242929499383, "omega":0.20261586227223377, "ax":1.8911840111219969, "ay":1.870583865650225, "alpha":2.1625796747282435, "fx":[26.37231254664687,26.357362245526097,37.963894267280295,37.980426597186614], "fy":[37.62883025819773,26.02091334108977,26.002476743756517,37.620164992563005]},
+    {"t":0.18708504770569745, "x":1.0364010534096806, "y":1.0360927481493445, "heading":0.018953202419461152, "vx":0.3773634823958946, "vy":0.373881566970976, "omega":0.4049090262125238, "ax":1.660279936388284, "ay":1.641290637405937, "alpha":2.150971039381975, "fx":[22.333934238948096,22.604811988222433,34.14850940041572,33.87629105388535], "fy":[33.5532869081883,22.00941768884548,22.279751438784665,33.82908047614697]},
+    {"t":0.2806275715585461, "x":1.0789644801164435, "y":1.0782473875899603, "heading":0.05682941597344003, "vx":0.5326702595835253, "vy":0.5274120372224788, "omega":0.6061162887857005, "ax":1.44810022949715, "ay":1.4339931325689592, "alpha":2.059595717442144, "fx":[18.73847735186093,19.493931340910574,30.52634931661159,29.768324254890302], "fy":[29.528326907649017,18.49660324860883,19.254370851138063,30.287950527455816]},
+    {"t":0.3741700954113949, "x":1.1351273869580027, "y":1.1338567070647985, "heading":0.1135270650478444, "vx":0.668129211330824, "vy":0.6615513755310488, "omega":0.7987760727862353, "ax":1.2517430964880694, "ay":1.2439341755955355, "alpha":2.0752527558062863, "fx":[15.080035581709785,16.445743842326824,27.504841703911083,26.136546537126588], "fy":[26.00325236783693,14.945385983980088,16.315053422155565,27.372165850883658]},
+    {"t":0.4677126192642436, "x":1.2031023836189794, "y":1.201182231550581, "heading":0.1882465957787164, "vx":0.7852204211325496, "vy":0.7779121191714824, "omega":0.9929004554174964, "ax":1.0689170557619028, "ay":1.0675370052402418, "alpha":1.8194583805478295, "fx":[12.416343615025168,14.37717743826657,23.948565563192545,21.985806481985236], "fy":[21.961461651035076,12.391538303449636,14.356694897930383,23.924301188028423]},
+    {"t":0.5612551431170922, "x":1.2812305050634143, "y":1.2786206781349003, "heading":0.281125013631525, "vx":0.8852096215112828, "vy":0.8777722261444885, "omega":1.1630971861181385, "ax":0.8975653473732693, "ay":0.9019118745333649, "alpha":1.8927124403112423, "fx":[8.997012230474356,11.757207228359094,21.538163513854617,18.776935999049087], "fy":[18.849777407518737,9.070266886783315,11.834242820484729,21.610764590322937]},
+    {"t":0.6547976669699409, "x":1.3679621875350942, "y":1.364675664384113, "heading":0.3899240590700068, "vx":0.9691701504733166, "vy":0.962139340225966, "omega":1.3401462863787, "ax":0.7358695247579955, "ay":0.7447660690798014, "alpha":1.5155177484863578, "fx":[7.206748869494592,10.301555906571732,17.82721121513947,14.73220427065711], "fy":[14.882416367115082,7.358007102961426,10.455607205359922,17.97700027998717]},
+    {"t":0.7483401908227896, "x":1.461840314134338, "y":1.457935034546986, "heading":0.515284730954376, "vx":1.0380052439438, "vy":1.0318066389008589, "omega":1.481911642456619, "ax":0.5822267678567521, "ay":0.5943224882926168, "alpha":1.5073465706430624, "fx":[4.447661939213503,8.160713232215933,15.359147204759116,11.646520550249036], "fy":[11.85127279958156,4.65378375445519,8.368564117587379,15.563401229717645]},
+    {"t":0.8418827146756382, "x":1.561485246428022, "y":1.5570530536996097, "heading":0.6539064834422273, "vx":1.0924682060142108, "vy":1.087401065180103, "omega":1.6229126460508965, "ax":0.4350030551951203, "ay":0.44946212653990186, "alpha":1.2042113103508176, "fx":[2.879276966000591,6.704891708221915,11.918878245480082,8.094063094776715], "fy":[8.339215522627807,3.1258448944206827,6.952280590395998,12.163547672926596]},
+    {"t":0.9354252385284868, "x":1.6655806629381589, "y":1.6607377369857002, "heading":0.805717834927676, "vx":1.1331594902832418, "vy":1.1294448874636542, "omega":1.7355576115437974, "ax":0.2935791429570506, "ay":0.3085803837769512, "alpha":0.9230304952675104, "fx":[1.4830454318016089,4.739944661515273,8.503876107608274,5.247922684543442], "fy":[5.502514040348767,1.7389007804147711,4.9959741281881715,8.758067192982809]},
+    {"t":1.0289677623813356, "x":1.77286370087673, "y":1.7677389335643443, "heading":0.9680662712237712, "vx":1.1606216247201189, "vy":1.1583102758135413, "omega":1.8219002140915288, "ax":0.1570947662489175, "ay":0.17075701248597588, "alpha":0.8271483494736193, "fx":[-0.4344968782915783,3.1429222556412864,5.778313309574789,2.2018094136918713], "fy":[2.4338170992945267,-0.2014841677825027,3.375736474059651,6.0100422925733294]},
+    {"t":1.1225102862341845, "x":1.8821184831443705, "y":1.8768372801447375, "heading":1.1384914189150983, "vx":1.1753166659447092, "vy":1.174283318016432, "omega":1.89927375825736, "ax":0.03199961106112611, "ay":0.028129925309566577, "alpha":0.2841843482577569, "fx":[-0.5641605633501865,0.6576577954424976,1.6523846106293552,0.4313350703224923], "fy":[0.3652775886651899,-0.6295026286165902,0.5919759225885158,1.5861770407262743]},
+    {"t":1.216052810087033, "x":1.992200572617001, "y":1.9868057773765448, "heading":1.316154278837785, "vx":1.1783099904824623, "vy":1.1769146623648443, "omega":1.9258570793538308, "ax":-0.0907758857662068, "ay":-0.11133915908565176, "alpha":0.3309234301244157, "fx":[-2.618504979756869,-0.8923927961501834,-0.4699213150080296,-2.195468283616368], "fy":[-2.545377683062683,-2.967965287877736,-1.2421724257237956,-0.8198735598559576]},
+    {"t":1.3095953339398816, "x":2.102025509916349, "y":2.0964102257470274, "heading":1.4963038095739432, "vx":1.1698185850305984, "vy":1.1664997164095872, "omega":1.9568124921095615, "ax":-0.22097479141306817, "ay":-0.2387661439081303, "alpha":-0.2826276605552494, "fx":[-2.999308871474468,-4.520897649552959,-4.518304321565982,-2.996361059502972], "fy":[-3.299057505032627,-3.3017692474822935,-4.8235704323027,-4.82097797883986]},
+    {"t":1.4031378577927305, "x":2.2104865062359607, "y":2.204482927739582, "heading":1.6793489912286077, "vx":1.1491480451922378, "vy":1.144164928537513, "omega":1.9303747869666497, "ax":-0.35291488438049046, "ay":-0.3604903172300525, "alpha":-0.271048506854095, "fx":[-5.175775306872224,-6.6581410473082805,-6.830274505677753,-5.347733962305131], "fy":[-5.476620040279493,-5.304575780604015,-6.7870294876334745,-6.959123294647713]},
+    {"t":1.496680381645579, "x":2.316436676727707, "y":2.309933821631109, "heading":1.8599211172828336, "vx":1.116135495910578, "vy":1.1104437541297971, "omega":1.9050202253046395, "ax":-0.4920256647525963, "ay":-0.47157992284260014, "alpha":-0.7831681554598404, "fx":[-6.739973374850589,-10.868095868491638,-9.9984833727243,-5.870310490326802], "fy":[-5.522529368140949,-6.3922006003885325,-10.520326595144828,-9.650701663314504]},
+    {"t":1.5902229054984276, "x":2.4186901461837076, "y":2.411744323396739, "heading":2.038121521490409, "vx":1.070110172987648, "vy":1.06633097749045, "omega":1.8317606986384487, "ax":-0.6209234539476843, "ay":-0.5897933821861586, "alpha":-0.9176233156812802, "fx":[-8.977668097513178,-13.707424122373933,-12.145787362745562,-7.416041577074712], "fy":[-6.886474754803763,-8.448165234775994,-13.177925976185906,-11.616300739654644]},
+    {"t":1.6837654293512765, "x":2.5160743497848994, "y":2.5089112087429375, "heading":2.2094690371417367, "vx":1.0120274253938069, "vy":1.0111602153623511, "omega":1.7459238971174007, "ax":-0.7533599230274338, "ay":-0.7016652438951467, "alpha":-1.2675464700621275, "fx":[-11.383648389330872,-17.46731447037596,-14.245217100212631,-8.161566982435213], "fy":[-7.282118930757909,-10.504308089102022,-16.588106011032455,-13.36596710786174]},
+    {"t":1.777307953204125, "x":2.6074459235038843, "y":2.6004278309261526, "heading":2.3727871686911697, "vx":0.9415562360810754, "vy":0.945524676793966, "omega":1.6273544000696083, "ax":-0.9090495804036864, "ay":-0.7877083728488177, "alpha":-1.4917875570366097, "fx":[-14.523788206103855,-21.14170226873374,-16.40156011008355,-9.78364245850089], "fy":[-7.719381177351221,-12.459702568069137,-19.078044095306932,-14.337648315673514]},
+    {"t":1.8708504770569736, "x":2.691544286160873, "y":2.6854282916752337, "heading":2.525014004861833, "vx":0.8565214431281072, "vy":0.8718404466356171, "omega":1.4878088257991122, "ax":-0.9700028753714522, "ay":-0.9661107089673772, "alpha":-1.6676644402914518, "fx":[-15.920254907968395,-23.020362059291863,-17.078682880204248,-9.978585624518212], "fy":[-9.911853909472104,-15.853836443899418,-22.954886878551253,-17.01248969251112]},
+    {"t":1.9643930009098225, "x":2.7674216027439877, "y":2.762755615116802, "heading":2.6641873995422745, "vx":0.7657849249748091, "vy":0.7814680115484739, "omega":1.331811283613645, "ax":-1.135290722583652, "ay":-1.0379969725623612, "alpha":-1.8785250707228809, "fx":[-19.268175987807187,-26.806992618657237,-19.353687221402996,-11.815025596492244], "fy":[-10.159155358497008,-17.61289396092675,-25.153470659519577,-17.698606046664604]},
+    {"t":2.057935524762671, "x":2.8340880451830786, "y":2.8313147631055027, "heading":2.7887683880258143, "vx":0.6595869642788689, "vy":0.6843711537875928, "omega":1.1560893057232486, "ax":-1.357451594471252, "ay":-1.0510508245570511, "alpha":-1.8923170701092291, "fx":[-22.899944553174254,-31.089573691206706,-23.27947958088773,-15.090455059205388], "fy":[-9.877089166497338,-17.687679383464744,-25.880273861182573,-18.067252764048373]},
+    {"t":2.15147804861552, "x":2.8898484858383777, "y":2.8907341139564116, "heading":2.8969119003633583, "vx":0.5326075147728049, "vy":0.5860532056186083, "omega":0.9790771891150244, "ax":-1.4300423288293522, "ay":-1.211992243824861, "alpha":-2.199189479594678, "fx":[-24.632188561645865,-33.87551540124824,-24.016214296389144,-14.774525110820491], "fy":[-11.062979332998015,-20.922641952076773,-30.170616385265703,-20.30632747437996]},
+    {"t":2.245020572468369, "x":2.933413356380924, "y":2.9402524206074316, "heading":2.9884972518917983, "vx":0.39883774461408417, "vy":0.4726803907523857, "omega":0.7733594525685183, "ax":-1.0694253293518992, "ay":-1.8048264380817416, "alpha":-2.178300139269845, "fx":[-18.517206083859136,-28.20066835580596,-17.862178517660244,-8.182422494488387], "fy":[-20.687309183725684,-31.025612925325557,-40.71588883652378,-30.369514277648253]},
+    {"t":2.338563096321218, "x":2.966042801030552, "y":2.976571837942823, "heading":3.0608392472145813, "vx":0.298800998578472, "vy":0.3038523689824109, "omega":0.5695957573369456, "ax":-0.9106787938133108, "ay":-2.194975559992969, "alpha":-2.949581309087017, "fx":[-18.01273124403441,-28.03817307456319,-12.964331789972436,-2.94630675060808], "fy":[-24.78551510877768,-39.85796008581845,-49.89285817128443,-34.80729158651256]},
+    {"t":2.4321056201740667, "x":2.9900090881269237, "y":2.9953917138006627, "heading":3.1141206720092796, "vx":0.2136138039785926, "vy":0.09852881352236947, "omega":0.29368447454289687, "ax":-2.283618372581057, "ay":-1.053312203984372, "alpha":-3.139600323842416, "fx":[-43.29349689676942,-51.03749013975899,-34.387110986236216,-26.65668244642302], "fy":[-5.719883400911514,-22.366832468674875,-30.12323719813716,-13.45620377555563]},
+    {"t":2.5256481440269156, "x":2.9999999994005484, "y":2.9999999994766173, "heading":-3.1415926482772387, "vx":-1.6240673083868531e-6, "vy":-6.70374675109243e-7, "omega":-1.6668471599990224e-6, "ax":0.36897861841123103, "ay":0.2669930012133492, "alpha":0.35743224834642673, "fx":[7.766584389524715,6.70598688292172,4.787825682329661,5.84448594589529], "fy":[4.110989239377565,6.030871225301557,4.969505620137475,3.054532144249792]},
+    {"t":2.525648479907584, "x":2.9999999994215782, "y":2.9999999994978936, "heading":-3.141592648510832, "vx":-1.5001615536677328e-6, "vy":-5.807237954539103e-7, "omega":-1.546625602277942e-6, "ax":0.3587811711672503, "ay":0.2463831878296512, "alpha":0.3203427142355774, "fx":[7.30174575401059,6.624938845504803,4.905466842396626,5.578908819257289], "fy":[3.668347762978491,5.3887278915515795,4.71182296133474,2.994731498506184]},
+    {"t":2.525648815788252, "x":2.999999999442649, "y":2.9999999995191993, "heading":-3.1415926487443846, "vx":-1.3796809243624843e-6, "vy":-4.979953537020074e-7, "omega":-1.438861701749996e-6, "ax":0.34849042899096033, "ay":0.22706478709793448, "alpha":0.2873697896971215, "fx":[6.879512398893493,6.519628082389908,4.977273354614327,5.334476105351234], "fy":[3.2702706490641136,4.812928901781754,4.4533072939030935,2.912721393745668]},
+    {"t":2.52564915166892, "x":2.9999999994637596, "y":2.9999999995405315, "heading":-3.141592648977902, "vx":-1.262656756434437e-6, "vy":-4.217555893084988e-7, "omega":-1.3421727692576378e-6, "ax":0.33803046071497084, "ay":0.20892953370389789, "alpha":0.26619417190372996, "fx":[6.509510284260193,6.420164748033228,4.991087253363487,5.07844338552742], "fy":[2.883510810129793,4.312492884373543,4.223548661396953,2.7957739974615983]},
+    {"t":2.5256494875495883, "x":2.99999999948491, "y":2.999999999561888, "heading":-3.1415926492113853, "vx":-1.1491458896581845e-6, "vy":-3.516071059545045e-7, "omega":-1.2525963171725251e-6, "ax":0.3273262257619401, "ay":0.1918717701201064, "alpha":0.24634487639495933, "fx":[6.166364157224601,6.2921603499747185,4.969766313113885,4.842610955663816], "fy":[2.5393871870970437,3.861471874421925,3.987665310515573,2.666211269696594]},
+    {"t":2.5256498234302565, "x":2.999999999506096, "y":2.999999999583268, "heading":-3.14159264944484, "vx":-1.0392303684876023e-6, "vy":-2.8718799564210153e-7, "omega":-1.169686859797934e-6, "ax":0.3163036144060417, "ay":0.17578829763860085, "alpha":0.23497451923735463, "fx":[5.859913333025568,6.162628139907428,4.900971727441166,4.597422714326232], "fy":[2.20788013365468,3.469166002299396,3.772198935087085,2.5111895105825934]},
+    {"t":2.5256501593109246, "x":2.999999999527319, "y":2.999999999604668, "heading":-3.1415926496782656, "vx":-9.330171294008236e-7, "vy":-2.2817101282439337e-7, "omega":-1.0905964853746662e-6, "ax":0.3048892673764451, "ay":0.16057824857814262, "alpha":0.22282919815828928, "fx":[5.566363673512591,6.002261629871665,4.8060122362720215,4.369679266870535], "fy":[1.915345717155164,3.1112775457785804,3.547393040048408,2.351543948469174]},
+    {"t":2.525650495191593, "x":2.9999999995485775, "y":2.999999999626087, "heading":-3.141592649911666, "vx":-8.306377488369107e-7, "vy":-1.7426279145869421e-7, "omega":-1.015585489559179e-6, "ax":0.2930106232527651, "ay":0.14614283686228385, "alpha":0.21679131120062609, "fx":[5.296767608802854,5.8354102099747145,4.671368243658632,4.132561393023623], "fy":[1.6345349351466976,2.798386272903844,3.337163070843378,2.173307080739081]},
+    {"t":2.525650831072261, "x":2.9999999995698694, "y":2.9999999996475233, "heading":-3.14159265014504, "vx":-7.322481752133165e-7, "vy":-1.2520314583571977e-7, "omega":-9.426025030666058e-7, "ax":0.2805957602523056, "ay":0.13238518191192047, "alpha":0.20852584502008684, "fx":[5.028483098336395,5.636623679301916,4.5172298553204495,3.9090777527604983], "fy":[1.3880421372690153,2.5074079712066015,3.1156406898144824,1.9962454641562697]},
+    {"t":2.525651166952929, "x":2.9999999995911932, "y":2.999999999668975, "heading":-3.141592650378391, "vx":-6.380285140839521e-7, "vy":-8.07644305598634e-8, "omega":-8.72395726909196e-7, "ax":0.26757345076842043, "ay":0.11920999738809664, "alpha":0.20484851861499823, "fx":[4.774077886256806,5.428405092723353,4.328596745511837,3.674311627976924], "fy":[1.1505466712588563,2.250491955759089,2.9049208623287828,1.8049522970973548]},
+    {"t":2.5256515028335973, "x":2.9999999996125486, "y":2.9999999996904414, "heading":-3.1415926506117167, "vx":-5.481827949788713e-7, "vy":-4.0751005074748755e-8, "omega":-8.034240934376294e-7, "ax":0.25387302594253947, "ay":0.10652337955626875, "alpha":0.19807048930517265, "fx":[4.511943996081131,5.187784381896652,4.124661074768375,3.4488406747060374], "fy":[0.9422325041143332,2.0056335311696936,2.681634870104834,1.618227923611763]},
+    {"t":2.5256518387142655, "x":2.999999999633933, "y":2.9999999997119207, "heading":-3.141592650845021, "vx":-4.6293878373159545e-7, "vy":-4.9987692731343374e-9, "omega":-7.367290689971155e-7, "ax":0.23942443600150912, "ay":0.09423244818304584, "alpha":0.195020021853755, "fx":[4.255992266812816,4.936025622777519,3.889116779172683,3.209029935512659], "fy":[0.7390751512461367,1.7863605105471954,2.4666514124599135,1.4193808510842485]},
+    {"t":2.5256521745949336, "x":2.999999999655345, "y":2.9999999997334106, "heading":-3.141592651078301, "vx":-3.8254777454029163e-7, "vy":2.6625180277338733e-8, "omega":-6.710586374533948e-7, "ax":0.22415813595858175, "ay":0.0822451017526714, "alpha":0.1884465660468719, "fx":[3.985635939509469,4.651523454225635,3.6401735947128304,2.9741300331873655], "fy":[0.5599386745580801,1.5717136473436888,2.237971842791855,1.2262384290391826]},
+    {"t":2.525652510475602, "x":2.999999999676783, "y":2.9999999997549107, "heading":-3.1415926513115613, "vx":-3.072844204197796e-7, "vy":5.4222811890347034e-8, "omega":-6.075961026426764e-7, "ax":0.2080051477674015, "ay":0.07046961800066547, "alpha":0.18516952007026297, "fx":[3.715721486558385,4.3545934852831065,3.3606295904404138,2.7214876299204733], "fy":[0.38177911814152166,1.3761686334754315,2.015513966454564,1.0212104382159592]},
+    {"t":2.52565284635627, "x":2.9999999996982454, "y":2.999999999776419, "heading":-3.1415926515447983, "vx":-2.374465427772153e-7, "vy":7.78652861440578e-8, "omega":-5.45234264088549e-7, "ax":0.1908969631380277, "ay":0.05881437483661915, "alpha":0.17822559552778588, "fx":[3.4266473683557193,4.024219421023466,3.0677500410278835,2.469794059930022], "fy":[0.2228908235501418,1.179750817119559,1.777857283184152,0.8211638269777137]},
+    {"t":2.525653182236938, "x":2.9999999997197304, "y":2.999999999797935, "heading":-3.141592651778016, "vx":-1.7335497362999533e-7, "vy":9.75929895276634e-8, "omega":-4.852047555410341e-7, "ax":0.17276560183192952, "ay":0.04718741209517586, "alpha":0.17434522035545483, "fx":[3.1336903672579335,3.6798346160801647,2.7439437744490935,2.1973050606259976], "fy":[0.06111828379072471,0.9973521160281158,1.5440174418254635,0.6080896713183181]},
+    {"t":2.5256535181176063, "x":2.999999999741235, "y":2.999999999819457, "heading":-3.141592652011212, "vx":-1.1535337824349818e-7, "vy":1.1341542088854213e-7, "omega":-4.264785898757353e-7, "ax":0.15354352628172285, "ay":0.03549611072620233, "alpha":0.16674180680942066, "fx":[2.81813920629999,3.3005188029745796,2.405626946516561,1.9226408418514631], "fy":[-0.08534731392758181,0.8098597459588692,1.2926401969124828,0.3979621195683101]},
+    {"t":2.5256538539982745, "x":2.9999999997627596, "y":2.999999999840983, "heading":-3.1415926522443898, "vx":-6.380810644640661e-8, "vy":1.253109701255995e-7, "omega":-3.703062638117589e-7, "ax":0.13316369044156984, "ay":0.02364670727985424, "alpha":0.16195173567498766, "fx":[2.495136094818315,2.904810418223747,2.0353832034419423,1.6249753753166951], "fy":[-0.23778762081783225,0.6319877488481361,1.0418058994649684,0.1728888721695283]},
+    {"t":2.525654189878942, "x":2.9999999997842997, "y":2.999999999862513, "heading":-3.141592652477547, "vx":-1.9108027538124813e-8, "vy":1.332265338075283e-7, "omega":-3.157428299289327e-7, "ax":0.11155946179372345, "ay":0.011543912979530002, "alpha":0.15328289691055252, "fx":[2.146744837829659,2.471568743245467,1.6488924345568383,1.3231720850089568], "fy":[-0.37782648945951913,0.445339138805237,0.7698875430847841,-0.05196556531168573]},
+    {"t":2.525654525759611, "x":2.9999999998058535, "y":2.9999999998840448, "heading":-3.141592652710688, "vx":1.8335608607310265e-8, "vy":1.370770028450378e-7, "omega":-2.6409109136976765e-7, "ax":0.08866465807221327, "ay":-0.0009096422462355182, "alpha":0.1469676157602603, "fx":[1.7873105756434395,2.0184912149888476,1.2295715167281436,0.9972685511717966], "fy":[-0.5259554837217444,0.26375470121917016,0.49405887704583235,-0.293749111891572]},
+    {"t":2.525654861640279, "x":2.9999999998274185, "y":2.9999999999055773, "heading":-3.1415926529438094, "vx":4.8089322772093366e-8, "vy":1.3674456342414386e-7, "omega":-2.1456053356153825e-7, "ax":0.06441347626710266, "ay":-0.01381388533844915, "alpha":0.1363491277762851, "fx":[1.399639673884134,1.523947805890751,0.7923905718736433,0.666641152341549], "fy":[-0.6633765276471656,0.06948523196031667,0.19212250936999373,-0.5381121621194551]},
+    {"t":2.525655197520947, "x":2.9999999998489923, "y":2.999999999927109, "heading":-3.1415926531769163, "vx":6.96975337794179e-8, "vy":1.3207783820311757e-7, "omega":-1.6859652054830305e-7, "ax":0.03874052186359718, "ay":-0.02727196930416514, "alpha":0.12724865757536302, "fx":[0.9964162236517764,1.0050582909723011,0.32245576743445853,0.31193048701334253], "fy":[-0.8100890303391619,-0.12540466658938065,-0.11942455469039948,-0.8006353270675853]},
+    {"t":2.5256555334016153, "x":2.999999999870572, "y":2.999999999948638, "heading":-3.141592653410006, "vx":8.26826956990938e-8, "vy":1.2289080273926506e-7, "omega":-1.2568917945508658e-7, "ax":0.011580753955709336, "ay":-0.04139090038647747, "alpha":0.11301022722782418, "fx":[0.5614099042498614,0.4393272296081974,-0.16620288231715777,-0.046593006567340056], "fy":[-0.9465350512558371,-0.33783934186866527,-0.4637658710444214,-1.068049226241511]},
+    {"t":2.5256558692822835, "x":2.9999999998921543, "y":2.999999999970163, "heading":3.1415926535365033, "vx":8.654541661790648e-8, "vy":1.0896149126143009e-7, "omega":-8.756425180628178e-8, "ax":-0.017130473734348492, "ay":-0.05628238957166201, "alpha":0.09893740719046835, "fx":[0.10440388029449886,-0.15607564868601442,-0.6855605515439154,-0.42830550712245147], "fy":[-1.092892214188612,-0.5588203827223241,-0.8245013456271325,-1.3531754287229498]},
+    {"t":2.5256562051629516, "x":2.999999999913736, "y":2.9999999999916827, "heading":3.1415926533034413, "vx":8.076459118759643e-8, "vy":9.003041643770895e-8, "omega":-5.416611227170089e-8, "ax":-0.04745742296616518, "ay":-0.07206371940958524, "alpha":0.0783737707169375, "fx":[-0.38914399124035015,-0.8051833020794618,-1.2232624478692584,-0.8113590024082246], "fy":[-1.2282191710600905,-0.8037814420490058,-1.226531076934189,-1.6446013016580303]},
+    {"t":2.52565654104362, "x":2.9999999999353144, "y":3.0000000000131957, "heading":3.1415926530703877, "vx":6.479752977708508e-8, "vy":6.579869799494706e-8, "omega":-2.7674900632336634e-8, "ax":-0.07946387082922327, "ay":-0.0888588821439764, "alpha":0.05598537502991943, "fx":[-0.9142250884609782,-1.489608163648971,-1.7864993096498698,-1.2162982630603665], "fy":[-1.3740953465312016,-1.0687350748067357,-1.6524557234381645,-1.9505704973094384]},
+    {"t":2.525656876924288, "x":2.9999999999568856, "y":3.0000000000346994, "heading":3.1415926528373457, "vx":3.808012126378977e-8, "vy":3.592580906227878e-8, "omega":-8.703518219586621e-9, "ax":-0.11321300649191962, "ay":-0.10679981309219544, "alpha":0.025166831737368865, "fx":[-1.4821184344941671,-2.2361057256899732,-2.3661687950655494,-1.61849043417459], "fy":[-1.507075235150109,-1.36613701253995,-2.130165777833108,-2.2631590248837252]},
+    {"t":2.525657212804956, "x":2.999999999978446, "y":3.0000000000561915, "heading":3.1415926526043076, "vx":2.7030504966354784e-11, "vy":2.6908246215619687e-11, "omega":-8.348864985752818e-11, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
+  "splits":[0]
+ },
+ "events":[
+   {"name":"Marker", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"0 s", "val":0.0}}, "event":null},
+   {"name":"Marker", "from":{"target":1, "targetTimestamp":2.5256481440269156, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[
+       {"type":"parallel", "data":{"commands":[
+          {"type":"deadline", "data":{"commands":[
+             {"type":"race", "data":{"commands":[
+                {"type":"named", "data":{"name":""}},
+                {"type":"wait", "data":{"waitTime":{"exp":"0 s", "val":0.0}}}]}}]}}]}}]}}}]
+}