Choreo.chor

{
    "version": "v0.4",
    "robotConfiguration": {
        "mass": 74.08797700309194,
        "rotationalInertia": 6,
        "motorMaxTorque": 0.7248618784530386,
        "motorMaxVelocity": 4704,
        "gearing": 4.71,
        "wheelbase": 0.6985,
        "trackWidth": 0.8128,
        "bumperLength": 0.8636,
        "bumperWidth": 0.9906,
        "wheelRadius": 0.0381
    },
    "paths": {
        "Middle Note to Far": {
            "waypoints": [
                {
                    "x": 2.882110118865967,
                    "y": 5.5605244636535645,
                    "heading": -3.1016139289525166,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 28
                },
                {
                    "x": 5.135583877563477,
                    "y": 4.272825241088867,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 25
                },
                {
                    "x": 7.3633036613464355,
                    "y": 5.380246639251709,
                    "heading": -2.6529502625347647,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 2.882110118865967,
                    "y": 5.5605244636535645,
                    "heading": -3.1016139289525166,
                    "angularVelocity": -2.4939002289577843e-26,
                    "velocityX": -1.991382916928464e-25,
                    "velocityY": -4.837704949629958e-25,
                    "timestamp": 0,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.8881191531042716,
                    "y": 5.555336220733887,
                    "heading": -3.099232099005228,
                    "angularVelocity": 0.07193783087154594,
                    "velocityX": 0.18148940029432303,
                    "velocityY": -0.15669923963342217,
                    "timestamp": 0.033109560274923996,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.9001378153464894,
                    "y": 5.5449594299294445,
                    "heading": -3.094514065431519,
                    "angularVelocity": 0.14249762106571268,
                    "velocityX": 0.36299673394697307,
                    "velocityY": -0.3134076900532265,
                    "timestamp": 0.06621912054984799,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.9181667525263646,
                    "y": 5.529393758138565,
                    "heading": -3.087510139694709,
                    "angularVelocity": 0.21153786636407831,
                    "velocityX": 0.5445236067822316,
                    "velocityY": -0.47012620106190167,
                    "timestamp": 0.09932868082477199,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.942206679675451,
                    "y": 5.5086388368640575,
                    "heading": -3.0782770419523464,
                    "angularVelocity": 0.27886500653272334,
                    "velocityX": 0.7260720755416783,
                    "velocityY": -0.6268558417015906,
                    "timestamp": 0.13243824109969599,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.972258398116882,
                    "y": 5.4826942529283125,
                    "heading": -3.0668801963202306,
                    "angularVelocity": 0.344216158036624,
                    "velocityX": 0.9076447464689262,
                    "velocityY": -0.7835979614442272,
                    "timestamp": 0.16554780137462,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.008322817604481,
                    "y": 5.451559536389796,
                    "heading": -3.0533968629415718,
                    "angularVelocity": 0.40723384021715586,
                    "velocityX": 1.089244894469736,
                    "velocityY": -0.9403542747167238,
                    "timestamp": 0.198657361649544,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.050400983030228,
                    "y": 5.415234144686651,
                    "heading": -3.0379205300224554,
                    "angularVelocity": 0.46742792083642465,
                    "velocityX": 1.270876601089024,
                    "velocityY": -1.0971269748531705,
                    "timestamp": 0.23176692192446802,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.0984941058180064,
                    "y": 5.373717441892234,
                    "heading": -3.0205672706129167,
                    "angularVelocity": 0.5241162753430372,
                    "velocityX": 1.452544896049319,
                    "velocityY": -1.253918881727337,
                    "timestamp": 0.264876482199392,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.1526035982653995,
                    "y": 5.327008672195187,
                    "heading": -3.001485299221051,
                    "angularVelocity": 0.5763281430928022,
                    "velocityX": 1.6342558462902128,
                    "velocityY": -1.4107336161882922,
                    "timestamp": 0.29798604247431604,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.2127311031235988,
                    "y": 5.275106928383723,
                    "heading": -2.9808700308230702,
                    "angularVelocity": 0.6226379398216743,
                    "velocityX": 1.8160164121460054,
                    "velocityY": -1.5675757509462536,
                    "timestamp": 0.33109560274924005,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.2788784914787716,
                    "y": 5.2180111230641835,
                    "heading": -2.9589892781621194,
                    "angularVelocity": 0.6608590533750649,
                    "velocityX": 1.9978334899624313,
                    "velocityY": -1.7244507279905386,
                    "timestamp": 0.36420516302416406,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.3510477356357558,
                    "y": 5.155719997632383,
                    "heading": -2.936228888930518,
                    "angularVelocity": 0.6874265028774575,
                    "velocityX": 2.1797101368224037,
                    "velocityY": -1.8813637183510752,
                    "timestamp": 0.39731472329908807,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.429240302138974,
                    "y": 5.088232319761392,
                    "heading": -2.913184947306449,
                    "angularVelocity": 0.6959905668551393,
                    "velocityX": 2.3616310773670492,
                    "velocityY": -2.0383139283823097,
                    "timestamp": 0.4304242835740121,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.5134544263240675,
                    "y": 5.015548008799713,
                    "heading": -2.8908825079765235,
                    "angularVelocity": 0.6735951533254523,
                    "velocityX": 2.543498720183068,
                    "velocityY": -2.1952665743110886,
                    "timestamp": 0.4635338438489361,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.603669398559901,
                    "y": 4.93767505801204,
                    "heading": -2.871449890769055,
                    "angularVelocity": 0.5869186134189105,
                    "velocityX": 2.7247408750444637,
                    "velocityY": -2.351977801609487,
                    "timestamp": 0.4966434041238601,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.6996479135514044,
                    "y": 4.85469416636344,
                    "heading": -2.8616392457247573,
                    "angularVelocity": 0.296308527290483,
                    "velocityX": 2.898815755768101,
                    "velocityY": -2.5062516976840663,
                    "timestamp": 0.529752964398784,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.7995743025159965,
                    "y": 4.768548820535657,
                    "heading": -2.8616392405364555,
                    "angularVelocity": 1.5670101544924152e-7,
                    "velocityX": 3.0180524336432475,
                    "velocityY": -2.6018269379743137,
                    "timestamp": 0.562862524673708,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.904055985504014,
                    "y": 4.687989018487192,
                    "heading": -2.861639235400362,
                    "angularVelocity": 1.5512418141481144e-7,
                    "velocityX": 3.1556348716339686,
                    "velocityY": -2.433128117061677,
                    "timestamp": 0.595972084948632,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.013202757100468,
                    "y": 4.61387231371975,
                    "heading": -2.861639230252438,
                    "angularVelocity": 1.55481501065394e-7,
                    "velocityX": 3.2965334087845997,
                    "velocityY": -2.238528816209459,
                    "timestamp": 0.6290816452235559,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.1266180937492285,
                    "y": 4.546468568320209,
                    "heading": -2.8616392250143665,
                    "angularVelocity": 1.5820418973361447e-7,
                    "velocityX": 3.425455841364836,
                    "velocityY": -2.035778936351235,
                    "timestamp": 0.6621912054984799,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.243889703713671,
                    "y": 4.486022950690646,
                    "heading": -2.86163921959853,
                    "angularVelocity": 1.6357320324893774e-7,
                    "velocityX": 3.541925926852607,
                    "velocityY": -1.8256242948457737,
                    "timestamp": 0.6953007657734038,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.3645912258860955,
                    "y": 4.432755274306902,
                    "heading": -2.861639213901143,
                    "angularVelocity": 1.720767888212661e-7,
                    "velocityX": 3.6455187314535173,
                    "velocityY": -1.608830680366594,
                    "timestamp": 0.7284103260483278,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.488283812300333,
                    "y": 4.38685923579529,
                    "heading": -2.861639207792507,
                    "angularVelocity": 1.844976378006715e-7,
                    "velocityX": 3.7358571176167863,
                    "velocityY": -1.386186893770736,
                    "timestamp": 0.7615198863232517,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.614517732800543,
                    "y": 4.348501721154879,
                    "heading": -2.861639201102132,
                    "angularVelocity": 2.0206776937049186e-7,
                    "velocityX": 3.8126124132133556,
                    "velocityY": -1.1585026899152628,
                    "timestamp": 0.7946294465981757,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.742834013550033,
                    "y": 4.317822202862873,
                    "heading": -2.8616391935945864,
                    "angularVelocity": 2.2674857107649009e-7,
                    "velocityX": 3.8755054335974566,
                    "velocityY": -0.9266060327367572,
                    "timestamp": 0.8277390068730996,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.872766107236903,
                    "y": 4.294932234471723,
                    "heading": -2.861639184927875,
                    "angularVelocity": 2.617585790673178e-7,
                    "velocityX": 3.924307438938582,
                    "velocityY": -0.6913401507324047,
                    "timestamp": 0.8608485671480236,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.003841590013879,
                    "y": 4.279915045841165,
                    "heading": -2.8616391745768284,
                    "angularVelocity": 3.1263014389123537e-7,
                    "velocityX": 3.95884094166745,
                    "velocityY": -0.45356049750777433,
                    "timestamp": 0.8939581274229476,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.135583877563477,
                    "y": 4.272825241088867,
                    "heading": -2.8616391610079344,
                    "angularVelocity": 4.0981801101445423e-7,
                    "velocityX": 3.978980284113732,
                    "velocityY": -0.214131649391533,
                    "timestamp": 0.9270676876978715,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.284424871942651,
                    "y": 4.274951217023794,
                    "heading": -2.8616391498403653,
                    "angularVelocity": 2.9894520539966983e-7,
                    "velocityX": 3.9843319361809737,
                    "velocityY": 0.056910354895267315,
                    "timestamp": 0.9644242625925427,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.432776863277912,
                    "y": 4.287192551686671,
                    "heading": -2.86163914115402,
                    "angularVelocity": 2.325252128460493e-7,
                    "velocityX": 3.9712417895255956,
                    "velocityY": 0.32768889271542245,
                    "timestamp": 1.001780837487214,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.579953199181895,
                    "y": 4.309492582220242,
                    "heading": -2.8616391340557517,
                    "angularVelocity": 1.9001389629888692e-7,
                    "velocityX": 3.939770611169627,
                    "velocityY": 0.5969506197087983,
                    "timestamp": 1.039137412381885,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.725272670707705,
                    "y": 4.3417480870767315,
                    "heading": -2.8616391280198408,
                    "angularVelocity": 1.6157560014695775e-7,
                    "velocityX": 3.8900641168401124,
                    "velocityY": 0.8634492039871198,
                    "timestamp": 1.0764939872765562,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.868062665877238,
                    "y": 4.3838097628051305,
                    "heading": -2.8616391227130022,
                    "angularVelocity": 1.420590182879549e-7,
                    "velocityX": 3.822352439219522,
                    "velocityY": 1.125951076804925,
                    "timestamp": 1.1138505621712274,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.007662284443887,
                    "y": 4.435482912938954,
                    "heading": -2.8616391179099305,
                    "angularVelocity": 1.2857365931280914e-7,
                    "velocityX": 3.7369490902272777,
                    "velocityY": 1.3832411102869546,
                    "timestamp": 1.1512071370658985,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.143425400933809,
                    "y": 4.49652834385756,
                    "heading": -2.8616391134487777,
                    "angularVelocity": 1.1942082105461682e-7,
                    "velocityX": 3.634249576485909,
                    "velocityY": 1.6341281579140055,
                    "timestamp": 1.1885637119605696,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.274723667475625,
                    "y": 4.566663456168581,
                    "heading": -2.8616391092058047,
                    "angularVelocity": 1.1358035977007773e-7,
                    "velocityX": 3.514729787514458,
                    "velocityY": 1.8774502884370683,
                    "timestamp": 1.2259202868552408,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.400949473592463,
                    "y": 4.64556348697143,
                    "heading": -2.861639105079789,
                    "angularVelocity": 1.1044951218584665e-7,
                    "velocityX": 3.3789448436517002,
                    "velocityY": 2.112078824820321,
                    "timestamp": 1.263276861749912,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.521519219357101,
                    "y": 4.7328624302472,
                    "heading": -2.861639100980807,
                    "angularVelocity": 1.0972585636191314e-7,
                    "velocityX": 3.227537484488114,
                    "velocityY": 2.3369097279906894,
                    "timestamp": 1.300633436644583,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.633721703274525,
                    "y": 4.819133843874233,
                    "heading": -2.847147632690185,
                    "angularVelocity": 0.38792283102724867,
                    "velocityX": 3.003553838481824,
                    "velocityY": 2.3094037360298527,
                    "timestamp": 1.3379900115392542,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.737985699166054,
                    "y": 4.8993021055887525,
                    "heading": -2.825954351829082,
                    "angularVelocity": 0.5673239830165896,
                    "velocityX": 2.79104806009404,
                    "velocityY": 2.1460281607871687,
                    "timestamp": 1.3753465864339254,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.8342217961666405,
                    "y": 4.973305408636886,
                    "heading": -2.803335178234677,
                    "angularVelocity": 0.6054937760804118,
                    "velocityX": 2.576148837839913,
                    "velocityY": 1.9809980774947902,
                    "timestamp": 1.4127031613285965,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.922427145782202,
                    "y": 5.04113901993427,
                    "heading": -2.7808929530492845,
                    "angularVelocity": 0.6007570353724823,
                    "velocityX": 2.36117336410688,
                    "velocityY": 1.8158412940330761,
                    "timestamp": 1.4500597362232677,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.002604691631365,
                    "y": 5.102802822238726,
                    "heading": -2.759403115351483,
                    "angularVelocity": 0.5752625276378563,
                    "velocityX": 2.146276688246394,
                    "velocityY": 1.6506813721097175,
                    "timestamp": 1.4874163111179388,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.0747574511562705,
                    "y": 5.158297482257539,
                    "heading": -2.7393216143505446,
                    "angularVelocity": 0.5375626929813374,
                    "velocityX": 1.931460786443714,
                    "velocityY": 1.4855392973066766,
                    "timestamp": 1.52477288601261,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.138887903589069,
                    "y": 5.207623780261399,
                    "heading": -2.7209480341919265,
                    "angularVelocity": 0.4918432755257391,
                    "velocityX": 1.7167112513290583,
                    "velocityY": 1.320418109608257,
                    "timestamp": 1.562129460907281,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.194998025148787,
                    "y": 5.2507824569945765,
                    "heading": -2.7044941292792304,
                    "angularVelocity": 0.44045539397251854,
                    "velocityX": 1.5020146177192093,
                    "velocityY": 1.155316750929791,
                    "timestamp": 1.5994860358019523,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.243089400442144,
                    "y": 5.287774178963396,
                    "heading": -2.6901176237374393,
                    "angularVelocity": 0.3848453875208385,
                    "velocityX": 1.2873604025249392,
                    "velocityY": 0.9902332339921273,
                    "timestamp": 1.6368426106966234,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.283163320380938,
                    "y": 5.31859953492678,
                    "heading": -2.6779407769637062,
                    "angularVelocity": 0.3259626132231365,
                    "velocityX": 1.0727407438124315,
                    "velocityY": 0.8251654775711532,
                    "timestamp": 1.6741991855912945,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.315220856802959,
                    "y": 5.343259040522557,
                    "heading": -2.6680614093535375,
                    "angularVelocity": 0.26446127992257834,
                    "velocityX": 0.8581497771786951,
                    "velocityY": 0.6601115242847007,
                    "timestamp": 1.7115557604859657,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.339262917711721,
                    "y": 5.361753144361989,
                    "heading": -2.6605598543846964,
                    "angularVelocity": 0.20080949578467386,
                    "velocityX": 0.6435831169358864,
                    "velocityY": 0.49506957989531564,
                    "timestamp": 1.7489123353806368,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.355290288231928,
                    "y": 5.3740822336976,
                    "heading": -2.6555035598800276,
                    "angularVelocity": 0.1353521975428702,
                    "velocityX": 0.4290374737351421,
                    "velocityY": 0.3300380018878502,
                    "timestamp": 1.786268910275308,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.3633036613464355,
                    "y": 5.380246639251709,
                    "heading": -2.6529502625347647,
                    "angularVelocity": 0.06834934285228152,
                    "velocityX": 0.21451038102667613,
                    "velocityY": 0.16501527700249286,
                    "timestamp": 1.8236254851699791,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.3633036613464355,
                    "y": 5.380246639251709,
                    "heading": -2.6529502625347647,
                    "angularVelocity": 3.900788633076048e-26,
                    "velocityX": 8.864045625105854e-27,
                    "velocityY": -2.2424612370376953e-26,
                    "timestamp": 1.8609820600646503,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 2.882110118865967,
                    "y": 5.5605244636535645,
                    "heading": -3.1016139289525166,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 28
                },
                {
                    "timestamp": 0.9270676876978715,
                    "isStopPoint": false,
                    "x": 5.135583877563477,
                    "y": 4.272825241088867,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 25
                },
                {
                    "timestamp": 1.8609820600646503,
                    "isStopPoint": true,
                    "x": 7.3633036613464355,
                    "y": 5.380246639251709,
                    "heading": -2.6529502625347647,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": true
        },
        "Left Subwoofer to Left Note": {
            "waypoints": [
                {
                    "x": 1.2073124647140503,
                    "y": 6.7562432289123535,
                    "heading": -2.4539216240427413,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 11
                },
                {
                    "x": 2.0072667598724365,
                    "y": 6.986353397369385,
                    "heading": -3.141592653589793,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 1.2073124647140503,
                    "y": 6.7562432289123535,
                    "heading": -2.4539216240427413,
                    "angularVelocity": 5.58450345820623e-18,
                    "velocityX": 5.683720785073275e-17,
                    "velocityY": 1.0146088436059877e-17,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 1.2340131231618912,
                    "y": 6.763865266459615,
                    "heading": -2.4767812254697574,
                    "angularVelocity": -0.36633846040451007,
                    "velocityX": 0.42789364192579243,
                    "velocityY": 0.12214760214112022,
                    "moduleForcesX": [
                        123.91226376701853,
                        118.49154113583312,
                        134.2967441157605,
                        131.33889459354396
                    ],
                    "moduleForcesY": [
                        51.7541993866095,
                        63.280276787182835,
                        1.7663068094291052,
                        28.225442578429845
                    ],
                    "timestamp": 0.06240022246573926
                },
                {
                    "x": 1.2874034409502368,
                    "y": 6.779116207097845,
                    "heading": -2.52252674819242,
                    "angularVelocity": -0.7330987120718361,
                    "velocityX": 0.8556110167441754,
                    "velocityY": 0.24440522863372804,
                    "moduleForcesX": [
                        123.09454194122101,
                        118.88748503996096,
                        134.26374323713648,
                        131.58439091238452
                    ],
                    "moduleForcesY": [
                        53.59313819906394,
                        62.49050490441287,
                        2.110637447293452,
                        26.962577263463764
                    ],
                    "timestamp": 0.12480044493147852
                },
                {
                    "x": 1.3674678096560624,
                    "y": 6.8020053544471,
                    "heading": -2.5911820840350788,
                    "angularVelocity": -1.1002418441747097,
                    "velocityX": 1.2830782574460893,
                    "velocityY": 0.3668119510497984,
                    "moduleForcesX": [
                        121.8896605290427,
                        119.52126555315445,
                        134.20144518008007,
                        131.92080485879012
                    ],
                    "moduleForcesY": [
                        56.16011806667652,
                        61.19790401817686,
                        2.8824160067513227,
                        25.093441773377602
                    ],
                    "timestamp": 0.18720066739721777
                },
                {
                    "x": 1.4741820241432546,
                    "y": 6.832541752634201,
                    "heading": -2.6827771045468007,
                    "angularVelocity": -1.4678636852933875,
                    "velocityX": 1.710157596712537,
                    "velocityY": 0.48936361090659397,
                    "moduleForcesX": [
                        120.32221875522971,
                        120.38775255267022,
                        134.06540481809228,
                        132.29724342168586
                    ],
                    "moduleForcesY": [
                        59.22264482593534,
                        59.32860511620672,
                        4.310320746743122,
                        22.64439384741604
                    ],
                    "timestamp": 0.24960088986295703
                },
                {
                    "x": 1.6074910771101392,
                    "y": 6.870727101128249,
                    "heading": -2.797325264740145,
                    "angularVelocity": -1.8357011508465106,
                    "velocityX": 2.1363554118937618,
                    "velocityY": 0.6119425057413628,
                    "moduleForcesX": [
                        118.38038023450767,
                        121.40081115925898,
                        133.67010723118136,
                        132.5746846503083
                    ],
                    "moduleForcesY": [
                        62.397733965192295,
                        56.77054431476718,
                        6.707957610124076,
                        19.662064819397177
                    ],
                    "timestamp": 0.3120011123286963
                },
                {
                    "x": 1.7406930010339277,
                    "y": 6.909232008054586,
                    "heading": -2.9120687475926115,
                    "angularVelocity": -1.838831310506198,
                    "velocityX": 2.1346386063989,
                    "velocityY": 0.6170636161934917,
                    "moduleForcesX": [
                        -0.6341224957617857,
                        -0.4266943689024133,
                        -0.5924933018034026,
                        -0.3850583039926121
                    ],
                    "moduleForcesY": [
                        1.584949591909549,
                        1.6334190893276166,
                        1.406735575967157,
                        1.4552060112883618
                    ],
                    "timestamp": 0.3744013347944356
                },
                {
                    "x": 1.8473043955008122,
                    "y": 6.94006667089937,
                    "heading": -3.003876646388507,
                    "angularVelocity": -1.471275184095173,
                    "velocityX": 1.70850984585689,
                    "velocityY": 0.4941434761991736,
                    "moduleForcesX": [
                        -115.9567081890955,
                        -123.55179120528831,
                        -133.21619852366788,
                        -133.21929657064786
                    ],
                    "moduleForcesY": [
                        -66.85861692567791,
                        -51.946399426387266,
                        -12.559687847250686,
                        -14.57875794277914
                    ],
                    "timestamp": 0.4368015572601749
                },
                {
                    "x": 1.9272792430449825,
                    "y": 6.963205910426209,
                    "heading": -3.072737172270823,
                    "angularVelocity": -1.1035301343690083,
                    "velocityX": 1.281643628578333,
                    "velocityY": 0.3708198242357743,
                    "moduleForcesX": [
                        -115.54720484779672,
                        -124.42263196545375,
                        -133.26750474890355,
                        -133.5822375905597
                    ],
                    "moduleForcesY": [
                        -68.12967147709482,
                        -50.343733197798144,
                        -14.963799536649534,
                        -12.985348939084329
                    ],
                    "timestamp": 0.4992017797259142
                },
                {
                    "x": 1.9806025652786596,
                    "y": 6.978637039012285,
                    "heading": -3.1186432258736194,
                    "angularVelocity": -0.7356713131586495,
                    "velocityX": 0.8545373738335358,
                    "velocityY": 0.24729284569793575,
                    "moduleForcesX": [
                        -115.25451974473673,
                        -124.94036479279696,
                        -133.16440415317484,
                        -133.74528768770978
                    ],
                    "moduleForcesY": [
                        -68.80800207471712,
                        -49.2205652463413,
                        -16.685470694546574,
                        -11.949925405339288
                    ],
                    "timestamp": 0.5616020021916535
                },
                {
                    "x": 2.0072667598724365,
                    "y": 6.986353397369385,
                    "heading": -3.141592653589793,
                    "angularVelocity": -0.3677779791370941,
                    "velocityX": 0.4273092873849037,
                    "velocityY": 0.12365914819541042,
                    "moduleForcesX": [
                        -115.1283528548839,
                        -125.19777155015001,
                        -133.1001648918972,
                        -133.82293824003932
                    ],
                    "moduleForcesY": [
                        -69.10892857503036,
                        -48.650452939889064,
                        -17.585510403628923,
                        -11.445779259024532
                    ],
                    "timestamp": 0.6240022246573927
                },
                {
                    "x": 2.0072667598724365,
                    "y": 6.986353397369385,
                    "heading": -3.141592653589793,
                    "angularVelocity": 7.551350309057606e-18,
                    "velocityX": 6.271525373486553e-17,
                    "velocityY": 2.4468208155443334e-17,
                    "moduleForcesX": [
                        -115.15644479466978,
                        -125.21626934897678,
                        -133.13022233285886,
                        -133.84270118309183
                    ],
                    "moduleForcesY": [
                        -69.11473206648952,
                        -48.65545044128477,
                        -17.597016266076945,
                        -11.453690090047678
                    ],
                    "timestamp": 0.686402447123132
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 1.2073124647140503,
                    "y": 6.7562432289123535,
                    "heading": -2.4539216240427413,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 11
                },
                {
                    "timestamp": 0.686402447123132,
                    "isStopPoint": true,
                    "x": 2.0072667598724365,
                    "y": 6.986353397369385,
                    "heading": -3.141592653589793,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        },
        "Left Note to Middle Note": {
            "waypoints": [
                {
                    "x": 2.1896133422851562,
                    "y": 6.01991605758667,
                    "heading": 2.640579392233346,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 9
                },
                {
                    "x": 1.9616800546646118,
                    "y": 6.147558689117432,
                    "heading": 3.6172878091887752,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 2.189613342285156,
                    "y": 6.01991605758667,
                    "heading": 2.640579392233346,
                    "angularVelocity": -1.8065202776724256e-21,
                    "velocityX": -5.026809513003296e-21,
                    "velocityY": -5.3544012762161524e-21,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 2.178311498989848,
                    "y": 6.025352090314116,
                    "heading": 2.6950777440833202,
                    "angularVelocity": 1.1481270642915546,
                    "velocityX": -0.23809806578088535,
                    "velocityY": 0.1145219274508765,
                    "moduleForcesX": [
                        -117.98100668999874,
                        -133.17434128069127,
                        -23.56130403395645,
                        -96.91285549128835
                    ],
                    "moduleForcesY": [
                        -63.92843065584672,
                        17.55846847798085,
                        132.10457882397333,
                        93.01411596737323
                    ],
                    "timestamp": 0.047467178106808075
                },
                {
                    "x": 2.155516830117346,
                    "y": 6.035857395048779,
                    "heading": 2.803724846013493,
                    "angularVelocity": 2.288889002116386,
                    "velocityX": -0.4802195913397131,
                    "velocityY": 0.2213172375873116,
                    "moduleForcesX": [
                        -117.50325561071587,
                        -133.82795538877144,
                        -25.400528638787918,
                        -101.17768605356149
                    ],
                    "moduleForcesY": [
                        -64.5480224474141,
                        11.19761660238378,
                        131.72355279004887,
                        88.31568514907725
                    ],
                    "timestamp": 0.09493435621361615
                },
                {
                    "x": 2.1208604326816016,
                    "y": 6.050994534173359,
                    "heading": 2.964314512488098,
                    "angularVelocity": 3.383172812869877,
                    "velocityX": -0.7301128657314497,
                    "velocityY": 0.31889696687925534,
                    "moduleForcesX": [
                        -118.8978752131368,
                        -134.21780400372523,
                        -29.861878324324053,
                        -107.06221109016012
                    ],
                    "moduleForcesY": [
                        -61.2167709783335,
                        1.8173173372979075,
                        130.70961733956327,
                        80.99475578672319
                    ],
                    "timestamp": 0.14240153432042424
                },
                {
                    "x": 2.073666374289257,
                    "y": 6.070822807240582,
                    "heading": 3.169322874670134,
                    "angularVelocity": 4.318949858800048,
                    "velocityX": -0.9942461354275213,
                    "velocityY": 0.41772597104048814,
                    "moduleForcesX": [
                        -127.33807519560533,
                        -133.68051850256003,
                        -37.58988167368416,
                        -113.65743955068277
                    ],
                    "moduleForcesY": [
                        -35.76320770668751,
                        -9.58838919492284,
                        128.46023812361068,
                        71.14617820417723
                    ],
                    "timestamp": 0.1898687124272323
                },
                {
                    "x": 2.0281864350326324,
                    "y": 6.101181107280667,
                    "heading": 3.3429948569824943,
                    "angularVelocity": 3.6587804297439623,
                    "velocityX": -0.9581344640772239,
                    "velocityY": 0.6395640366862558,
                    "moduleForcesX": [
                        -25.365461324516744,
                        37.68044796856541,
                        -22.905901088345196,
                        66.95492813232126
                    ],
                    "moduleForcesY": [
                        101.47099442883903,
                        101.78129299155259,
                        73.33475811865817,
                        69.6634408284289
                    ],
                    "timestamp": 0.23733589053404036
                },
                {
                    "x": 1.9948736654025336,
                    "y": 6.124376170601951,
                    "heading": 3.479217178055535,
                    "angularVelocity": 2.8698213482697614,
                    "velocityX": -0.7018064051572765,
                    "velocityY": 0.4886547767617392,
                    "moduleForcesX": [
                        94.81080482618302,
                        130.35752182635153,
                        51.67391021231554,
                        123.24110686744689
                    ],
                    "moduleForcesY": [
                        -90.07700981046432,
                        30.953756128132458,
                        -123.57290213949896,
                        -52.846849361315215
                    ],
                    "timestamp": 0.2848030686408484
                },
                {
                    "x": 1.9727891446723986,
                    "y": 6.139835336809645,
                    "heading": 3.571553157918554,
                    "angularVelocity": 1.9452595150116112,
                    "velocityX": -0.46525876639311103,
                    "velocityY": 0.3256811722172329,
                    "moduleForcesX": [
                        58.02838540197968,
                        129.482429248426,
                        56.35778208076328,
                        125.34096490446537
                    ],
                    "moduleForcesY": [
                        -119.71451705866885,
                        35.22051499729964,
                        -121.78050518965888,
                        -48.09883338521655
                    ],
                    "timestamp": 0.3322702467476565
                },
                {
                    "x": 1.961680054664612,
                    "y": 6.147558689117432,
                    "heading": 3.6172878091887752,
                    "angularVelocity": 0.9635005301413057,
                    "velocityX": -0.23403729589293454,
                    "velocityY": 0.16270932075256664,
                    "moduleForcesX": [
                        46.71458452040837,
                        129.01298991611256,
                        58.86475044387691,
                        126.30401807244279
                    ],
                    "moduleForcesY": [
                        -125.19101884334631,
                        37.1618431676218,
                        -120.67535813007652,
                        -45.66607057891027
                    ],
                    "timestamp": 0.37973742485446454
                },
                {
                    "x": 1.961680054664612,
                    "y": 6.147558689117432,
                    "heading": 3.6172878091887752,
                    "angularVelocity": 6.617761877705537e-21,
                    "velocityX": -5.993938395354412e-21,
                    "velocityY": -6.161515596294408e-20,
                    "moduleForcesX": [
                        50.28269904690398,
                        129.2908414487252,
                        59.442814562780285,
                        126.27499967444383
                    ],
                    "moduleForcesY": [
                        -124.02953954948966,
                        36.32453498142985,
                        -120.4320043237529,
                        -45.82383089056908
                    ],
                    "timestamp": 0.4272046029612726
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 2.1896133422851562,
                    "y": 6.01991605758667,
                    "heading": 2.640579392233346,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 9
                },
                {
                    "timestamp": 0.4272046029612726,
                    "isStopPoint": true,
                    "x": 1.9616800546646118,
                    "y": 6.147558689117432,
                    "heading": 3.6172878091887752,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        },
        "Middle Note to Right Note": {
            "waypoints": [
                {
                    "x": 1.9343280792236328,
                    "y": 5.545814514160156,
                    "heading": 3.131066649965576,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 11
                },
                {
                    "x": 2.207848072052002,
                    "y": 4.725254058837891,
                    "heading": 2.475623828671782,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 1.9343280792236328,
                    "y": 5.545814514160156,
                    "heading": 3.131066649965576,
                    "angularVelocity": -7.043854651145748e-22,
                    "velocityX": -6.801547782035991e-21,
                    "velocityY": 1.138650636255863e-23,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 1.9434447976952802,
                    "y": 5.518480188410972,
                    "heading": 3.107220535639389,
                    "angularVelocity": -0.3757174654304587,
                    "velocityX": 0.14364228529462866,
                    "velocityY": -0.4306774449393583,
                    "moduleForcesX": [
                        25.97757594735624,
                        69.62636862100359,
                        18.100733324246658,
                        53.972441546858676
                    ],
                    "moduleForcesY": [
                        -131.76215742378326,
                        -114.85907905784644,
                        -133.1029036381311,
                        -123.01607476096731
                    ],
                    "timestamp": 0.06346820821562395
                },
                {
                    "x": 1.961669268064488,
                    "y": 5.463811521231413,
                    "heading": 3.0597280730620597,
                    "angularVelocity": -0.7482874325990249,
                    "velocityX": 0.287143293966841,
                    "velocityY": -0.8613551369502985,
                    "moduleForcesX": [
                        27.272143064029233,
                        69.87818941087177,
                        17.34757420296555,
                        53.01429713774652
                    ],
                    "moduleForcesY": [
                        -131.46975540698648,
                        -114.67872220776404,
                        -133.18079762245415,
                        -123.41122805616648
                    ],
                    "timestamp": 0.1269364164312479
                },
                {
                    "x": 1.9889919903769782,
                    "y": 5.381807176010132,
                    "heading": 2.9890056322375287,
                    "angularVelocity": -1.1142971073684953,
                    "velocityX": 0.43049462212113077,
                    "velocityY": -1.2920538885024615,
                    "moduleForcesX": [
                        29.39640205035751,
                        70.04692547329027,
                        16.3748906983934,
                        51.51925989890621
                    ],
                    "moduleForcesY": [
                        -130.95955658555167,
                        -114.53113567603441,
                        -133.26595874589358,
                        -124.00843559854013
                    ],
                    "timestamp": 0.19040462464687186
                },
                {
                    "x": 2.025404738126633,
                    "y": 5.272470261169396,
                    "heading": 2.8956991038183646,
                    "angularVelocity": -1.4701301808012097,
                    "velocityX": 0.5737163341045975,
                    "velocityY": -1.722703664002623,
                    "moduleForcesX": [
                        32.433755529106904,
                        69.98564370667663,
                        15.302617363107693,
                        49.46415742583
                    ],
                    "moduleForcesY": [
                        -130.1366296926122,
                        -114.48072533205352,
                        -133.31638610689447,
                        -124.77417454248572
                    ],
                    "timestamp": 0.2538728328624958
                },
                {
                    "x": 2.0708966281320693,
                    "y": 5.1358343228706635,
                    "heading": 2.780659990650731,
                    "angularVelocity": -1.81254704366011,
                    "velocityX": 0.7167665715547517,
                    "velocityY": -2.1528248888724164,
                    "moduleForcesX": [
                        36.38901567667086,
                        69.46819758646845,
                        14.31660557951468,
                        46.81218880526439
                    ],
                    "moduleForcesY": [
                        -128.77369450888392,
                        -114.53468828522992,
                        -133.19271709868497,
                        -125.58982582598267
                    ],
                    "timestamp": 0.3173410410781197
                },
                {
                    "x": 2.1165139002732136,
                    "y": 4.999031810946309,
                    "heading": 2.678629615149414,
                    "angularVelocity": -1.607582415981939,
                    "velocityX": 0.7187420824323034,
                    "velocityY": -2.1554494095624763,
                    "moduleForcesX": [
                        4.079215111866961,
                        -8.189534227181555,
                        9.342556464769327,
                        -2.9261756442278766
                    ],
                    "moduleForcesY": [
                        -9.095098698535589,
                        -2.980411643069586,
                        1.4400010808344792,
                        7.571842678776012
                    ],
                    "timestamp": 0.38080924929374366
                },
                {
                    "x": 2.1530364703983564,
                    "y": 4.889537276323542,
                    "heading": 2.5973426002501716,
                    "angularVelocity": -1.2807516894613098,
                    "velocityX": 0.5754466866476309,
                    "velocityY": -1.7251871086509198,
                    "moduleForcesX": [
                        -43.03132775786311,
                        -68.42254022556018,
                        -13.217743592737138,
                        -42.6005753347396
                    ],
                    "moduleForcesY": [
                        126.70364568964969,
                        115.18242084194596,
                        133.28777863407805,
                        127.0817620343043
                    ],
                    "timestamp": 0.4442774575093676
                },
                {
                    "x": 2.180439429706913,
                    "y": 4.80740051851102,
                    "heading": 2.536494595928157,
                    "angularVelocity": -0.9587162775305091,
                    "velocityX": 0.43175882979804925,
                    "velocityY": -1.2941401706736988,
                    "moduleForcesX": [
                        -45.360488278828115,
                        -67.97580915265132,
                        -13.155402914612585,
                        -41.2386158734663
                    ],
                    "moduleForcesY": [
                        126.20835329213364,
                        115.70521035471575,
                        133.52751356530976,
                        127.73045584284255
                    ],
                    "timestamp": 0.5077456657249916
                },
                {
                    "x": 2.198711666173042,
                    "y": 4.752637211262968,
                    "heading": 2.4959341436998987,
                    "angularVelocity": -0.6390672333219212,
                    "velocityX": 0.28789589276022526,
                    "velocityY": -0.8628462782815943,
                    "moduleForcesX": [
                        -46.87425277297757,
                        -67.62681236892617,
                        -13.12921591578163,
                        -40.30441050702413
                    ],
                    "moduleForcesY": [
                        125.76121771942174,
                        115.99492720726326,
                        133.60872331283122,
                        128.09494068658825
                    ],
                    "timestamp": 0.5712138739406155
                },
                {
                    "x": 2.207848072052002,
                    "y": 4.725254058837891,
                    "heading": 2.475623828671782,
                    "angularVelocity": -0.32000769517732913,
                    "velocityX": 0.14395247850578144,
                    "velocityY": -0.43144675412999006,
                    "moduleForcesX": [
                        -47.637812659291335,
                        -67.47323901122301,
                        -13.086267815218852,
                        -39.83131508354235
                    ],
                    "moduleForcesY": [
                        125.52762338424716,
                        116.12651531851236,
                        133.6528205947628,
                        128.27615614043498
                    ],
                    "timestamp": 0.6346820821562394
                },
                {
                    "x": 2.207848072052002,
                    "y": 4.725254058837891,
                    "heading": 2.475623828671782,
                    "angularVelocity": 4.547406255555029e-22,
                    "velocityX": 7.610038014342273e-21,
                    "velocityY": 6.255117642169024e-23,
                    "moduleForcesX": [
                        -47.667486582977375,
                        -67.55034830139822,
                        -12.992009473483156,
                        -39.82937113158985
                    ],
                    "moduleForcesY": [
                        125.54841386414765,
                        116.10663367346874,
                        133.68640910590958,
                        128.29679149237373
                    ],
                    "timestamp": 0.6981502903718634
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 1.9343280792236328,
                    "y": 5.545814514160156,
                    "heading": 3.131066649965576,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 11
                },
                {
                    "timestamp": 0.6981502903718634,
                    "isStopPoint": true,
                    "x": 2.207848072052002,
                    "y": 4.725254058837891,
                    "heading": 2.475623828671782,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        },
        "Right Note to Middle": {
            "waypoints": [
                {
                    "x": 2.735057830810547,
                    "y": 4.094947338104248,
                    "heading": 3.141592653589793,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 12
                },
                {
                    "x": 1.7793333530426025,
                    "y": 5.135534763336182,
                    "heading": 2.537286810437225,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 2.735057830810547,
                    "y": 4.094947338104248,
                    "heading": 3.141592653589793,
                    "angularVelocity": -4.5982056085046655e-21,
                    "velocityX": -7.015844596204804e-18,
                    "velocityY": 7.594097598025673e-18,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 2.708512924440888,
                    "y": 4.123871513770783,
                    "heading": 3.1237496337013444,
                    "angularVelocity": -0.24195450362504875,
                    "velocityX": -0.35995362245838425,
                    "velocityY": 0.3922169346843925,
                    "moduleForcesX": [
                        -92.14784532889385,
                        -76.63929689089929,
                        -103.43811771180859,
                        -89.40073008494485
                    ],
                    "moduleForcesY": [
                        97.75790519085795,
                        110.32541232119046,
                        85.70959109496049,
                        100.2462910482069
                    ],
                    "timestamp": 0.07374535138267022
                },
                {
                    "x": 2.655424552932631,
                    "y": 4.181716448750494,
                    "heading": 3.088249228627817,
                    "angularVelocity": -0.4813917678595531,
                    "velocityX": -0.7198877015682186,
                    "velocityY": 0.7843875430145056,
                    "moduleForcesX": [
                        -91.72091455776506,
                        -76.59103607691804,
                        -103.3459307269175,
                        -89.94847450675206
                    ],
                    "moduleForcesY": [
                        98.13662578414159,
                        110.33616005213118,
                        85.79331180694837,
                        99.72656042251452
                    ],
                    "timestamp": 0.14749070276534043
                },
                {
                    "x": 2.5757936002177395,
                    "y": 4.268476954971917,
                    "heading": 3.035427729596774,
                    "angularVelocity": -0.7162688636053555,
                    "velocityX": -1.0798097944072542,
                    "velocityY": 1.1764878001739834,
                    "moduleForcesX": [
                        -91.0800336712377,
                        -76.61405635247478,
                        -103.13886642366757,
                        -90.76135746119263
                    ],
                    "moduleForcesY": [
                        98.69706452312963,
                        110.28374319241242,
                        85.99923099596731,
                        98.9419413275514
                    ],
                    "timestamp": 0.22123605414801065
                },
                {
                    "x": 2.469621460802986,
                    "y": 4.384143006577028,
                    "heading": 2.965809947205206,
                    "angularVelocity": -0.9440294348902929,
                    "velocityX": -1.4397129774811017,
                    "velocityY": 1.5684521049331437,
                    "moduleForcesX": [
                        -90.23255113260508,
                        -76.79794393468187,
                        -102.74873555096111,
                        -91.79608566915678
                    ],
                    "moduleForcesY": [
                        99.40948165204074,
                        110.08873065685451,
                        86.38754859352801,
                        97.89963509277288
                    ],
                    "timestamp": 0.29498140553068086
                },
                {
                    "x": 2.3369151410184172,
                    "y": 4.528689305039475,
                    "heading": 2.880280577031531,
                    "angularVelocity": -1.1597933777528113,
                    "velocityX": -1.7995211534911353,
                    "velocityY": 1.9600733571983797,
                    "moduleForcesX": [
                        -89.20502642684036,
                        -77.36065215551254,
                        -101.99427805251045,
                        -92.91991117983216
                    ],
                    "moduleForcesY": [
                        100.18162338243214,
                        109.53192240292239,
                        87.09311757678263,
                        96.63408629529899
                    ],
                    "timestamp": 0.3687267569133511
                },
                {
                    "x": 2.1777469158522025,
                    "y": 4.701968934009104,
                    "heading": 2.781969103595009,
                    "angularVelocity": -1.3331209573655163,
                    "velocityX": -2.1583492678771945,
                    "velocityY": 2.3497023977891316,
                    "moduleForcesX": [
                        -88.1664258803173,
                        -79.84037449440585,
                        -99.34657595810305,
                        -93.14187642888974
                    ],
                    "moduleForcesY": [
                        100.22723994591628,
                        106.81012253567927,
                        89.08027662643471,
                        95.32164293202898
                    ],
                    "timestamp": 0.44247210829602135
                },
                {
                    "x": 2.04498242499034,
                    "y": 4.846465506146848,
                    "heading": 2.700351333891189,
                    "angularVelocity": -1.1067513839658796,
                    "velocityX": -1.8003099635805242,
                    "velocityY": 1.959399059445996,
                    "moduleForcesX": [
                        86.49663141339651,
                        76.37041273704239,
                        101.46448306507641,
                        95.37125059467004
                    ],
                    "moduleForcesY": [
                        -101.99557872871146,
                        -109.61465467519857,
                        -87.05756340601872,
                        -93.44891581301118
                    ],
                    "timestamp": 0.5162174596786916
                },
                {
                    "x": 1.9387377504019323,
                    "y": 4.962084076504504,
                    "heading": 2.6351334207370267,
                    "angularVelocity": -0.884366430308824,
                    "velocityX": -1.4406965672595615,
                    "velocityY": 1.5678082508242703,
                    "moduleForcesX": [
                        86.03840248504277,
                        77.20358549167985,
                        101.34798075916751,
                        96.69421443083772
                    ],
                    "moduleForcesY": [
                        -102.94636640497482,
                        -109.66402437000231,
                        -87.89720734919453,
                        -92.90256644663958
                    ],
                    "timestamp": 0.5899628110613618
                },
                {
                    "x": 1.8590405411328406,
                    "y": 5.048806055472297,
                    "heading": 2.5862308592903016,
                    "angularVelocity": -0.663127377249396,
                    "velocityX": -1.0807082449915735,
                    "velocityY": 1.1759653638068663,
                    "moduleForcesX": [
                        85.50852692876016,
                        77.59797001395599,
                        101.09480201085323,
                        97.45955209011858
                    ],
                    "moduleForcesY": [
                        -103.51140240166175,
                        -109.52659879460931,
                        -88.34299151679492,
                        -92.2824214257766
                    ],
                    "timestamp": 0.6637081624440321
                },
                {
                    "x": 1.805903499222271,
                    "y": 5.10662424480884,
                    "heading": 2.5536134099858403,
                    "angularVelocity": -0.4422983780388679,
                    "velocityX": -0.7205476808271767,
                    "velocityY": 0.7840248673641268,
                    "moduleForcesX": [
                        85.13663119398129,
                        77.8534849153673,
                        100.9028896554394,
                        97.9408874221789
                    ],
                    "moduleForcesY": [
                        -103.87212611248816,
                        -109.40768071359409,
                        -88.62961165562665,
                        -91.8520585821045
                    ],
                    "timestamp": 0.7374535138267023
                },
                {
                    "x": 1.7793333530426023,
                    "y": 5.135534763336182,
                    "heading": 2.537286810437225,
                    "angularVelocity": -0.22139157577398225,
                    "velocityX": -0.3602958787437252,
                    "velocityY": 0.392031741463143,
                    "moduleForcesX": [
                        84.94702770842929,
                        77.97491737400061,
                        100.81453975043223,
                        98.18907017036938
                    ],
                    "moduleForcesY": [
                        -104.0579862248759,
                        -109.356645620386,
                        -88.76776102258576,
                        -91.63195817403842
                    ],
                    "timestamp": 0.8111988652093726
                },
                {
                    "x": 1.7793333530426023,
                    "y": 5.135534763336182,
                    "heading": 2.537286810437225,
                    "angularVelocity": 6.041031413671389e-19,
                    "velocityX": 6.76062805413418e-18,
                    "velocityY": -7.428652743142758e-18,
                    "moduleForcesX": [
                        84.9461330098751,
                        77.95540421810118,
                        100.84610837845779,
                        98.22219084005256
                    ],
                    "moduleForcesY": [
                        -104.07849207635424,
                        -109.3935156419247,
                        -88.7558645684304,
                        -91.62527372770924
                    ],
                    "timestamp": 0.8849442165920428
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 2.735057830810547,
                    "y": 4.094947338104248,
                    "heading": 3.141592653589793,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 12
                },
                {
                    "timestamp": 0.8849442165920428,
                    "isStopPoint": true,
                    "x": 1.7793333530426025,
                    "y": 5.135534763336182,
                    "heading": 2.537286810437225,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        },
        "Far to Shoot": {
            "waypoints": [
                {
                    "x": 8.264693260192871,
                    "y": 5.766556262969971,
                    "heading": -2.8920767848954956,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 30
                },
                {
                    "x": 4.981060028076172,
                    "y": 4.234194278717041,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 28
                },
                {
                    "x": 2.894987106323242,
                    "y": 5.547647476196289,
                    "heading": -3.141592653589793,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 8.264693260192871,
                    "y": 5.766556262969971,
                    "heading": -2.8920767848954956,
                    "angularVelocity": 4.591381415727021e-26,
                    "velocityX": 5.530153981078727e-25,
                    "velocityY": 2.688471451923322e-25,
                    "timestamp": 0,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 8.255165555861797,
                    "y": 5.760523458717632,
                    "heading": -2.893564561153589,
                    "angularVelocity": -0.037732801175313885,
                    "velocityX": -0.24164048271769345,
                    "velocityY": -0.15300325041805513,
                    "timestamp": 0.03942925549525925,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 8.236110135690712,
                    "y": 5.748457829855694,
                    "heading": -2.8965375284752266,
                    "angularVelocity": -0.07540003695974902,
                    "velocityX": -0.4832812573236833,
                    "velocityY": -0.30600701713448436,
                    "timestamp": 0.0788585109905185,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 8.207526989944041,
                    "y": 5.730359351452384,
                    "heading": -2.900993178346821,
                    "angularVelocity": -0.11300365212653028,
                    "velocityX": -0.7249222788421472,
                    "velocityY": -0.4590114161675351,
                    "timestamp": 0.11828776648577774,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 8.169416109979787,
                    "y": 5.7062279934974365,
                    "heading": -2.906928958613734,
                    "angularVelocity": -0.1505425398566409,
                    "velocityX": -0.9665635195377721,
                    "velocityY": -0.6120165763172676,
                    "timestamp": 0.157717021981037,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 8.121777487285716,
                    "y": 5.676063720159678,
                    "heading": -2.914342098967621,
                    "angularVelocity": -0.18801116736223114,
                    "velocityX": -1.2082049761198355,
                    "velocityY": -0.765022645212886,
                    "timestamp": 0.19714627747629623,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 8.064611112053308,
                    "y": 5.63986648863877,
                    "heading": -2.923229344587856,
                    "angularVelocity": -0.22539724650148588,
                    "velocityX": -1.4498466814641926,
                    "velocityY": -0.9180297996055334,
                    "timestamp": 0.23657553297155548,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.997916970964364,
                    "y": 5.597636247301048,
                    "heading": -2.933586528278738,
                    "angularVelocity": -0.2626776377283441,
                    "velocityX": -1.6914887245832868,
                    "velocityY": -1.0710382635249216,
                    "timestamp": 0.27600478846681475,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.9216950435526625,
                    "y": 5.549372932482076,
                    "heading": -2.9454078423141765,
                    "angularVelocity": -0.29981073410984216,
                    "velocityX": -1.9331312867641113,
                    "velocityY": -1.224048342093946,
                    "timestamp": 0.315434043962074,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.835945295772629,
                    "y": 5.495076462607434,
                    "heading": -2.9586845058126245,
                    "angularVelocity": -0.33672113083759575,
                    "velocityX": -2.174774712404678,
                    "velocityY": -1.377060489543607,
                    "timestamp": 0.3548632994573332,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.740667667465879,
                    "y": 5.434746726297955,
                    "heading": -2.973402070331417,
                    "angularVelocity": -0.37326508791324586,
                    "velocityX": -2.4164196637749455,
                    "velocityY": -1.530075461778208,
                    "timestamp": 0.3942925549525924,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.635862044273849,
                    "y": 5.368383554632678,
                    "heading": -2.989534103423495,
                    "angularVelocity": -0.4091386684696139,
                    "velocityX": -2.6580675154931948,
                    "velocityY": -1.6830947181656897,
                    "timestamp": 0.43372181044785163,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.521528179306037,
                    "y": 5.2959866394486745,
                    "heading": -3.007023279702593,
                    "angularVelocity": -0.4435583695259104,
                    "velocityX": -2.8997216288184666,
                    "velocityY": -1.8361217901440818,
                    "timestamp": 0.47315106594311085,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.397665369730842,
                    "y": 5.217555149321792,
                    "heading": -3.0256881403476816,
                    "angularVelocity": -0.4733759339517098,
                    "velocityX": -3.141393567273591,
                    "velocityY": -1.989169948601048,
                    "timestamp": 0.5125803214383701,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.264905386511834,
                    "y": 5.133531281820912,
                    "heading": -3.0256881412483736,
                    "angularVelocity": -2.2843238132369278e-8,
                    "velocityX": -3.3670426071060464,
                    "velocityY": -2.131003145899688,
                    "timestamp": 0.5520095769336293,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 7.132154255792013,
                    "y": 5.049493428168235,
                    "heading": -3.025688141953405,
                    "angularVelocity": -1.788092191637745e-8,
                    "velocityX": -3.3668180910943657,
                    "velocityY": -2.131357860986775,
                    "timestamp": 0.5914388324288885,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.9994031254204625,
                    "y": 4.965455573965412,
                    "heading": -3.0256881426584368,
                    "angularVelocity": -1.7880922110428282e-8,
                    "velocityX": -3.3668180822615907,
                    "velocityY": -2.1313578749395456,
                    "timestamp": 0.6308680879241477,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.866651995048925,
                    "y": 4.881417719762565,
                    "heading": -3.0256881433634684,
                    "angularVelocity": -1.78809224236769e-8,
                    "velocityX": -3.366818082261243,
                    "velocityY": -2.1313578749400945,
                    "timestamp": 0.6702973434194069,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.733900864677388,
                    "y": 4.797379865559719,
                    "heading": -3.0256881440685,
                    "angularVelocity": -1.7880922563429582e-8,
                    "velocityX": -3.3668180822612435,
                    "velocityY": -2.131357874940095,
                    "timestamp": 0.7097265989146662,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.601149734305849,
                    "y": 4.713342011356874,
                    "heading": -3.0256881447735315,
                    "angularVelocity": -1.788092207599896e-8,
                    "velocityX": -3.3668180822612563,
                    "velocityY": -2.131357874940073,
                    "timestamp": 0.7491558544099254,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.468398603920663,
                    "y": 4.629304157175588,
                    "heading": -3.025688145478563,
                    "angularVelocity": -1.788092242709185e-8,
                    "velocityX": -3.3668180826074074,
                    "velocityY": -2.1313578743932733,
                    "timestamp": 0.7885851099051846,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.335647126572758,
                    "y": 4.5452668510795,
                    "heading": -3.0256881461835943,
                    "angularVelocity": -1.7880909849757237e-8,
                    "velocityX": -3.36682688223385,
                    "velocityY": -2.1313439739229287,
                    "timestamp": 0.8280143654004438,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.198757976209637,
                    "y": 4.468152753464856,
                    "heading": -3.0256881468857095,
                    "angularVelocity": -1.7806959698356763e-8,
                    "velocityX": -3.4717660438599856,
                    "velocityY": -1.95575839934173,
                    "timestamp": 0.867443620895703,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 6.05668804110481,
                    "y": 4.401060600321141,
                    "heading": -3.0256881475966417,
                    "angularVelocity": -1.8030579645391297e-8,
                    "velocityX": -3.6031604786935354,
                    "velocityY": -1.7015830580869404,
                    "timestamp": 0.9068728763909623,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.910169771582076,
                    "y": 4.344336530917063,
                    "heading": -3.025688148333869,
                    "angularVelocity": -1.8697467283533303e-8,
                    "velocityX": -3.715978597170064,
                    "velocityY": -1.4386289746428904,
                    "timestamp": 0.9463021318862215,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.759958648379002,
                    "y": 4.298273078644141,
                    "heading": -3.025688149117932,
                    "angularVelocity": -1.9885308918184798e-8,
                    "velocityX": -3.809636304726425,
                    "velocityY": -1.1682556947711282,
                    "timestamp": 0.9857313873814807,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.606829210497457,
                    "y": 4.26310778094238,
                    "heading": -3.025688149974997,
                    "angularVelocity": -2.173676512116733e-8,
                    "velocityX": -3.8836502479727786,
                    "velocityY": -0.8918580191297352,
                    "timestamp": 1.02516064287674,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.451571050140669,
                    "y": 4.239021971962906,
                    "heading": -3.0256881509409217,
                    "angularVelocity": -2.449767826365868e-8,
                    "velocityX": -3.9376386494402706,
                    "velocityY": -0.6108613687207342,
                    "timestamp": 1.0645898983719992,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.294984738290427,
                    "y": 4.226139852219635,
                    "heading": -3.025688152068353,
                    "angularVelocity": -2.859378159244134e-8,
                    "velocityX": -3.9713230666774413,
                    "velocityY": -0.3267147599279532,
                    "timestamp": 1.1040191538672586,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 5.137877695623133,
                    "y": 4.224527849834119,
                    "heading": -3.025688153440192,
                    "angularVelocity": -3.47924078467491e-8,
                    "velocityX": -3.984529778559583,
                    "velocityY": -0.04088340916581434,
                    "timestamp": 1.143448409362518,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.981060028076172,
                    "y": 4.234194278717041,
                    "heading": -3.0256881551041843,
                    "angularVelocity": -4.220197370041405e-8,
                    "velocityX": -3.9771906818229437,
                    "velocityY": 0.24515879799161935,
                    "timestamp": 1.1828776648577772,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.850451067170512,
                    "y": 4.250169765811436,
                    "heading": -3.0256881567961953,
                    "angularVelocity": -5.123956685583623e-8,
                    "velocityX": -3.9552617291254655,
                    "velocityY": 0.48378941437441836,
                    "timestamp": 1.2158992370950557,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.721038592801246,
                    "y": 4.273967433392467,
                    "heading": -3.0256881581845363,
                    "angularVelocity": -4.204345241217596e-8,
                    "velocityX": -3.9190282473337517,
                    "velocityY": 0.7206703366523725,
                    "timestamp": 1.248920809332334,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.593290642728769,
                    "y": 4.305501212819465,
                    "heading": -3.025688159366829,
                    "angularVelocity": -3.5803659817716966e-8,
                    "velocityX": -3.8686210685105333,
                    "velocityY": 0.9549448221426443,
                    "timestamp": 1.2819423815696125,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.467669234176229,
                    "y": 4.344657056320489,
                    "heading": -3.0256881604050054,
                    "angularVelocity": -3.143932666028932e-8,
                    "velocityX": -3.80422251399418,
                    "velocityY": 1.1857655722649416,
                    "timestamp": 1.314963953806891,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.344628692727646,
                    "y": 4.391293349235917,
                    "heading": -3.0256881613407063,
                    "angularVelocity": -2.8336048606704493e-8,
                    "velocityX": -3.7260655114925654,
                    "velocityY": 1.4122977725082113,
                    "timestamp": 1.3479855260441693,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.224614008816122,
                    "y": 4.445241421741013,
                    "heading": -3.0256881622034246,
                    "angularVelocity": -2.6125895237129634e-8,
                    "velocityX": -3.6344327595655277,
                    "velocityY": 1.633722104975783,
                    "timestamp": 1.3810070982814477,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 4.108059227490168,
                    "y": 4.506306157911966,
                    "heading": -3.025688163015104,
                    "angularVelocity": -2.4580273431742444e-8,
                    "velocityX": -3.5296557198561858,
                    "velocityY": 1.8492376962601504,
                    "timestamp": 1.4140286705187262,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.9953858764815755,
                    "y": 4.57426669907164,
                    "heading": -3.0256881637929043,
                    "angularVelocity": -2.355431215328365e-8,
                    "velocityX": -3.412113457196161,
                    "velocityY": 2.058064972537943,
                    "timestamp": 1.4470502427560046,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.8870014352052857,
                    "y": 4.648877235610549,
                    "heading": -3.025688164550966,
                    "angularVelocity": -2.295655851243022e-8,
                    "velocityX": -3.28223140005228,
                    "velocityY": 2.259448338885592,
                    "timestamp": 1.480071814993283,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.7832978332487617,
                    "y": 4.729867866379399,
                    "heading": -3.0256881653016108,
                    "angularVelocity": -2.2731960032596324e-8,
                    "velocityX": -3.1404804474891717,
                    "velocityY": 2.4526582255649925,
                    "timestamp": 1.5130933872305614,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.684649769341523,
                    "y": 4.816945296549593,
                    "heading": -3.0256881660562915,
                    "angularVelocity": -2.2854176380064508e-8,
                    "velocityX": -2.9873824056103935,
                    "velocityY": 2.6369861963111543,
                    "timestamp": 1.5461149594678398,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.591748216059404,
                    "y": 4.902912255716681,
                    "heading": -3.0351271498720696,
                    "angularVelocity": -0.285842955869983,
                    "velocityX": -2.8133594795114494,
                    "velocityY": 2.603357543043885,
                    "timestamp": 1.5791365317051183,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.5046470386474726,
                    "y": 4.983508159785934,
                    "heading": -3.0462361895135737,
                    "angularVelocity": -0.33641764727855006,
                    "velocityX": -2.6377053395901546,
                    "velocityY": 2.4407046245444284,
                    "timestamp": 1.6121581039423967,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.423353972570163,
                    "y": 5.0587298789022075,
                    "heading": -3.057557325244737,
                    "angularVelocity": -0.3428406027979142,
                    "velocityX": -2.461816944789103,
                    "velocityY": 2.2779569239091155,
                    "timestamp": 1.645179676179675,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.347869100473548,
                    "y": 5.128577599543301,
                    "heading": -3.068616039122137,
                    "angularVelocity": -0.33489362038661535,
                    "velocityX": -2.285926047197702,
                    "velocityY": 2.1152148704246514,
                    "timestamp": 1.6782012484169535,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.2781920191287477,
                    "y": 5.193051632194995,
                    "heading": -3.0791788414728902,
                    "angularVelocity": -0.31987581556848327,
                    "velocityX": -2.1100473606808263,
                    "velocityY": 1.952482219453753,
                    "timestamp": 1.711222820654232,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.214322349028893,
                    "y": 5.252152229200312,
                    "heading": -3.089107641866762,
                    "angularVelocity": -0.30067618593468637,
                    "velocityX": -1.934180166859268,
                    "velocityY": 1.7897572102456625,
                    "timestamp": 1.7442443928915103,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.1562597816835325,
                    "y": 5.305879584913711,
                    "heading": -3.098311642395465,
                    "angularVelocity": -0.27872690199508704,
                    "velocityX": -1.758322315126263,
                    "velocityY": 1.627038086719152,
                    "timestamp": 1.7772659651287888,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.1040040704336516,
                    "y": 5.354233850341838,
                    "heading": -3.1067268250915197,
                    "angularVelocity": -0.2548389469643259,
                    "velocityX": -1.582471933025904,
                    "velocityY": 1.4643235361621694,
                    "timestamp": 1.8102875373660672,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.057555016278531,
                    "y": 5.397215145166964,
                    "heading": -3.114305727397763,
                    "angularVelocity": -0.22951367220749985,
                    "velocityX": -1.4066275773109265,
                    "velocityY": 1.3016126099715135,
                    "timestamp": 1.8433091096033456,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 3.0169124562260268,
                    "y": 5.434823566255165,
                    "heading": -3.121011772899786,
                    "angularVelocity": -0.20308074533328063,
                    "velocityX": -1.230788157525175,
                    "velocityY": 1.1389046171988337,
                    "timestamp": 1.876330681840624,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.9820762545996513,
                    "y": 5.467059193569572,
                    "heading": -3.1268158738327174,
                    "angularVelocity": -0.1757669468681114,
                    "velocityX": -1.0549528464622457,
                    "velocityY": 0.9761990459683839,
                    "timestamp": 1.9093522540779024,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.953046296657058,
                    "y": 5.493922094326476,
                    "heading": -3.1316942704748447,
                    "angularVelocity": -0.14773362718992264,
                    "velocityX": -0.8791210101686509,
                    "velocityY": 0.8134955102645864,
                    "timestamp": 1.9423738263151809,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.92982248387753,
                    "y": 5.515412325972525,
                    "heading": -3.1356270910697863,
                    "angularVelocity": -0.119098526462694,
                    "velocityX": -0.7032921574009886,
                    "velocityY": 0.6507937142311148,
                    "timestamp": 1.9753953985524593,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.9124047304369793,
                    "y": 5.531529938362153,
                    "heading": -3.1385973546477572,
                    "angularVelocity": -0.08994918705349,
                    "velocityX": -0.5274659036642622,
                    "velocityY": 0.4880934279510789,
                    "timestamp": 2.0084169707897375,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.9007929605325886,
                    "y": 5.542274975383337,
                    "heading": -3.1405902582591207,
                    "angularVelocity": -0.0603515664561189,
                    "velocityX": -0.3516419454819933,
                    "velocityY": 0.3253944707409503,
                    "timestamp": 2.0414385430270157,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.894987106323242,
                    "y": 5.547647476196289,
                    "heading": -3.141592653589793,
                    "angularVelocity": -0.030355772386293906,
                    "velocityX": -0.17582004174809798,
                    "velocityY": 0.16269669942873752,
                    "timestamp": 2.074460115264294,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                },
                {
                    "x": 2.894987106323242,
                    "y": 5.547647476196289,
                    "heading": -3.141592653589793,
                    "angularVelocity": 1.1499226539097004e-25,
                    "velocityX": 1.4999916639355916e-25,
                    "velocityY": 1.62490435578752e-25,
                    "timestamp": 2.107481687501572,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ]
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 8.264693260192871,
                    "y": 5.766556262969971,
                    "heading": -2.8920767848954956,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 30
                },
                {
                    "timestamp": 1.1828776648577772,
                    "isStopPoint": false,
                    "x": 4.981060028076172,
                    "y": 4.234194278717041,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 28
                },
                {
                    "timestamp": 2.107481687501572,
                    "isStopPoint": true,
                    "x": 2.894987106323242,
                    "y": 5.547647476196289,
                    "heading": -3.141592653589793,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": true
        },
        "Out the Way to Far": {
            "waypoints": [
                {
                    "x": 1.0590639114379883,
                    "y": 3.2664806842803955,
                    "heading": 2.262133226164975,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 30
                },
                {
                    "x": 4.92955207824707,
                    "y": 1.8133193254470825,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 29
                },
                {
                    "x": 7.376180648803711,
                    "y": 2.2253830432891846,
                    "heading": 3.356950629374594,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 1.0590639114379885,
                    "y": 3.2664806842803955,
                    "heading": 2.262133226164975,
                    "angularVelocity": 2.6735635041955655e-21,
                    "velocityX": 8.039009153649496e-21,
                    "velocityY": -1.5013775262705948e-20,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 1.0691226682735924,
                    "y": 3.262095554917802,
                    "heading": 2.2677975941313298,
                    "angularVelocity": 0.11849239532529583,
                    "velocityX": 0.21041821409289987,
                    "velocityY": -0.09173211999490982,
                    "moduleForcesX": [
                        75.92354374163253,
                        80.09983021309927,
                        83.26478610901286,
                        86.82632354696399
                    ],
                    "moduleForcesY": [
                        -47.45795253854833,
                        -39.960872411116604,
                        -32.93337113764951,
                        -21.817877314449145
                    ],
                    "timestamp": 0.047803641329086086
                },
                {
                    "x": 1.0892421878324443,
                    "y": 3.2533237201143614,
                    "heading": 2.2789978721619604,
                    "angularVelocity": 0.2342975915480278,
                    "velocityX": 0.4208783891659403,
                    "velocityY": -0.1834972098266306,
                    "moduleForcesX": [
                        76.09540510911697,
                        80.0604032588414,
                        83.29183540079198,
                        86.73187263120303
                    ],
                    "moduleForcesY": [
                        -47.172959393311494,
                        -40.02733264711985,
                        -32.852434529831484,
                        -22.16844479064218
                    ],
                    "timestamp": 0.09560728265817217
                },
                {
                    "x": 1.1194247578105574,
                    "y": 3.240163280446452,
                    "heading": 2.2955808537429405,
                    "angularVelocity": 0.3468978747208976,
                    "velocityX": 0.6313864203426205,
                    "velocityY": -0.2753020335273482,
                    "moduleForcesX": [
                        76.30725498701466,
                        79.99430519668456,
                        83.33633993751937,
                        86.61578556390516
                    ],
                    "moduleForcesY": [
                        -46.81931565300404,
                        -40.145357469621445,
                        -32.72500136915812,
                        -22.59307799329184
                    ],
                    "timestamp": 0.14341092398725824
                },
                {
                    "x": 1.1596729793550546,
                    "y": 3.222612028476565,
                    "heading": 2.31736570624905,
                    "angularVelocity": 0.45571533674892994,
                    "velocityX": 0.8419488646779666,
                    "velocityY": -0.3671530344113827,
                    "moduleForcesX": [
                        76.56063395403906,
                        79.90999428672473,
                        83.39372475036994,
                        86.47366436278779
                    ],
                    "moduleForcesY": [
                        -46.39207109330246,
                        -40.29729538403331,
                        -32.56173374528719,
                        -23.103219490398313
                    ],
                    "timestamp": 0.19121456531634434
                },
                {
                    "x": 1.2099898019832394,
                    "y": 3.200667470092413,
                    "heading": 2.3441401360321246,
                    "angularVelocity": 0.560091847371129,
                    "velocityX": 1.0525730096959698,
                    "velocityY": -0.4590562094021815,
                    "moduleForcesX": [
                        76.85747790347482,
                        79.81813498277255,
                        83.45815648641049,
                        86.29987414342831
                    ],
                    "moduleForcesY": [
                        -45.88484491745827,
                        -40.46123212993896,
                        -32.376470910245864,
                        -23.712633252842565
                    ],
                    "timestamp": 0.23901820664543044
                },
                {
                    "x": 1.2703785615613608,
                    "y": 3.17432685532869,
                    "heading": 2.3756550820606814,
                    "angularVelocity": 0.6592582730592516,
                    "velocityX": 1.2632669373949958,
                    "velocityY": -0.5510169106656777,
                    "moduleForcesX": [
                        77.20020108327881,
                        79.7321642772725,
                        83.52216380320316,
                        86.0872663157195
                    ],
                    "moduleForcesY": [
                        -45.28943169672473,
                        -40.61008585781063,
                        -32.18737365169123,
                        -24.437446500504684
                    ],
                    "timestamp": 0.28682184797451654
                },
                {
                    "x": 1.340843018245411,
                    "y": 3.1435872251043806,
                    "heading": 2.4116171830062743,
                    "angularVelocity": 0.7522878999535868,
                    "velocityX": 1.4740395234531194,
                    "velocityY": -0.6430395126742378,
                    "moduleForcesX": [
                        77.59190960375582,
                        79.66901547151079,
                        83.57600382600664,
                        85.82677441906561
                    ],
                    "moduleForcesY": [
                        -44.59505376649154,
                        -40.710237406511474,
                        -32.01867929091815,
                        -25.29630346961742
                    ],
                    "timestamp": 0.33462548930360264
                },
                {
                    "x": 1.4213873853678656,
                    "y": 3.10844548594787,
                    "heading": 2.45167783985875,
                    "angularVelocity": 0.8380252160435511,
                    "velocityX": 1.684900247827922,
                    "velocityY": -0.7351268267325172,
                    "moduleForcesX": [
                        78.0368572671381,
                        79.65008936956903,
                        83.60655987969089,
                        85.50679705860074
                    ],
                    "moduleForcesY": [
                        -43.7869507167955,
                        -40.71933605585147,
                        -31.90350956292576,
                        -26.31077089609389
                    ],
                    "timestamp": 0.38242913063268874
                },
                {
                    "x": 1.5120163273175358,
                    "y": 3.068898535523139,
                    "heading": 2.4954169052698014,
                    "angularVelocity": 0.9149735081883511,
                    "velocityX": 1.8958585461255768,
                    "velocityY": -0.8272790382741948,
                    "moduleForcesX": [
                        78.54135558514577,
                        79.7026477295969,
                        83.59532814569376,
                        85.11219604544642
                    ],
                    "moduleForcesY": [
                        -42.84368057192087,
                        -40.58258840233504,
                        -31.888596983887517,
                        -27.506281964112727
                    ],
                    "timestamp": 0.43023277196177484
                },
                {
                    "x": 1.6127348734877984,
                    "y": 3.024943482822205,
                    "heading": 2.5423174623995033,
                    "angularVelocity": 0.9811084642450746,
                    "velocityX": 2.1069220538432436,
                    "velocityY": -0.9194917265474131,
                    "moduleForcesX": [
                        79.11557056993014,
                        79.8619534292673,
                        83.51451640883585,
                        84.6225448247019
                    ],
                    "moduleForcesY": [
                        -41.73177259081652,
                        -40.22616285668883,
                        -32.04273317806611,
                        -28.914208530923354
                    ],
                    "timestamp": 0.47803641329086094
                },
                {
                    "x": 1.7235481138760835,
                    "y": 2.976578051294434,
                    "heading": 2.5917248437869347,
                    "angularVelocity": 1.0335484915742015,
                    "velocityX": 2.3180920387514514,
                    "velocityY": -1.011752037775047,
                    "moduleForcesX": [
                        79.77716307755624,
                        80.17473365547377,
                        83.31890139866887,
                        84.00880966887368
                    ],
                    "moduleForcesY": [
                        -40.3945053905232,
                        -39.54488319220849,
                        -32.4729925776169,
                        -30.576303937413346
                    ],
                    "timestamp": 0.525840054619947
                },
                {
                    "x": 1.844460305269359,
                    "y": 2.92380135919399,
                    "heading": 2.6427754512085944,
                    "angularVelocity": 1.0679229866658317,
                    "velocityX": 2.52935107099691,
                    "velocityY": -1.1040307941632073,
                    "moduleForcesX": [
                        80.55908232859329,
                        80.70491061441655,
                        82.92711001358663,
                        83.22651393472782
                    ],
                    "moduleForcesY": [
                        -38.72628449175646,
                        -38.377991817080066,
                        -33.35873988336186,
                        -32.554255946024966
                    ],
                    "timestamp": 0.5736436959490331
                },
                {
                    "x": 1.9754722415434272,
                    "y": 2.8666155739997925,
                    "heading": 2.6942613868174834,
                    "angularVelocity": 1.0770295771916931,
                    "velocityX": 2.7406267102576196,
                    "velocityY": -1.1962642092581153,
                    "moduleForcesX": [
                        81.52764685875802,
                        81.54275142525364,
                        82.17261529379333,
                        82.20034152361875
                    ],
                    "moduleForcesY": [
                        -36.506696901419744,
                        -36.45821949322766,
                        -35.03126225384135,
                        -34.95082175732332
                    ],
                    "timestamp": 0.6214473372781192
                },
                {
                    "x": 2.1165727260261584,
                    "y": 2.805030055517545,
                    "heading": 2.7443368993454587,
                    "angularVelocity": 1.0475250657841995,
                    "velocityX": 2.9516681273583005,
                    "velocityY": -1.288301827433714,
                    "moduleForcesX": [
                        82.82867671308382,
                        82.81629926677574,
                        80.64975056916587,
                        80.78562177041705
                    ],
                    "moduleForcesY": [
                        -33.19876794128608,
                        -33.29618094742965,
                        -38.18932483839637,
                        -37.959272856946086
                    ],
                    "timestamp": 0.6692509786072053
                },
                {
                    "x": 2.2677046262770997,
                    "y": 2.739075811793647,
                    "heading": 2.789730671946437,
                    "angularVelocity": 0.9495881765257677,
                    "velocityX": 3.161514396163443,
                    "velocityY": -1.3796907911232357,
                    "moduleForcesX": [
                        84.80831919646423,
                        84.68257063623103,
                        77.07893030164193,
                        78.65824001262992
                    ],
                    "moduleForcesY": [
                        -27.146261220563677,
                        -27.898256367371467,
                        -44.60500778950051,
                        -41.98871078860298
                    ],
                    "timestamp": 0.7170546199362914
                },
                {
                    "x": 2.428561629264305,
                    "y": 2.668905111822113,
                    "heading": 2.8226267020400173,
                    "angularVelocity": 0.6881490442771868,
                    "velocityX": 3.3649529306742276,
                    "velocityY": -1.467894453656156,
                    "moduleForcesX": [
                        87.87431057899735,
                        87.1105545803358,
                        65.35964933907351,
                        74.95258520614983
                    ],
                    "moduleForcesY": [
                        -10.733846722270442,
                        -18.158799871832198,
                        -59.820655288880936,
                        -47.988228369511575
                    ],
                    "timestamp": 0.7648582612653775
                },
                {
                    "x": 2.5984678253679667,
                    "y": 2.5948574293642768,
                    "heading": 2.8337798554121516,
                    "angularVelocity": 0.23331179512779093,
                    "velocityX": 3.5542521736786767,
                    "velocityY": -1.5489966956300032,
                    "moduleForcesX": [
                        86.31039714442183,
                        87.73727453874076,
                        47.64292678386045,
                        71.69286715368021
                    ],
                    "moduleForcesY": [
                        10.462198707095279,
                        -11.111506667901056,
                        -73.19549373288615,
                        -51.8506656639716
                    ],
                    "timestamp": 0.8126619025944636
                },
                {
                    "x": 2.7728354715245755,
                    "y": 2.5185862340890206,
                    "heading": 2.8338187201366183,
                    "angularVelocity": 0.0008130076158661838,
                    "velocityX": 3.6475808392134836,
                    "velocityY": -1.5955101568559618,
                    "moduleForcesX": [
                        32.05781553154378,
                        47.95764747213867,
                        23.62290878827248,
                        41.00609113235531
                    ],
                    "moduleForcesY": [
                        -4.684347692039545,
                        -10.81704966898963,
                        -27.34605360185802,
                        -29.240953807781374
                    ],
                    "timestamp": 0.8604655439235497
                },
                {
                    "x": 2.947172272835568,
                    "y": 2.442236952023447,
                    "heading": 2.8338551318936105,
                    "angularVelocity": 0.0007616942136590075,
                    "velocityX": 3.646935598709712,
                    "velocityY": -1.5971436472794185,
                    "moduleForcesX": [
                        -0.25158360729936025,
                        -0.24723971702590586,
                        -0.25276993207826765,
                        -0.2484260365997856
                    ],
                    "moduleForcesY": [
                        -0.630355383752792,
                        -0.631736081041267,
                        -0.6340880105225067,
                        -0.6354686912886318
                    ],
                    "timestamp": 0.9082691852526358
                },
                {
                    "x": 3.121505966577846,
                    "y": 2.3658805711298467,
                    "heading": 2.833891543012806,
                    "angularVelocity": 0.000761680871651976,
                    "velocityX": 3.64687059176399,
                    "velocityY": -1.5972921470135129,
                    "moduleForcesX": [
                        -0.025187995446438606,
                        -0.02518686593427699,
                        -0.025188303877929523,
                        -0.02518717437659407
                    ],
                    "moduleForcesY": [
                        -0.05753702788251424,
                        -0.05753738691397542,
                        -0.057537998338017086,
                        -0.05753835736447381
                    ],
                    "timestamp": 0.9560728265817219
                },
                {
                    "x": 3.295860921601092,
                    "y": 2.2895727516299074,
                    "heading": 2.8339279536869895,
                    "angularVelocity": 0.0007616715624793859,
                    "velocityX": 3.647315354555618,
                    "velocityY": -1.596276295661816,
                    "moduleForcesX": [
                        0.17232746180583805,
                        0.17232824989954415,
                        0.17232724664690513,
                        0.17232803474022654
                    ],
                    "moduleForcesY": [
                        0.3936021303804903,
                        0.3936018799423342,
                        0.3936014532195983,
                        0.39360120278164995
                    ],
                    "timestamp": 1.0038764679108079
                },
                {
                    "x": 3.4703035691225668,
                    "y": 2.213465616315236,
                    "heading": 2.8339643627403723,
                    "angularVelocity": 0.0007616376571024566,
                    "velocityX": 3.6491497859041777,
                    "velocityY": -1.592078201548304,
                    "moduleForcesX": [
                        0.7107675491731605,
                        0.7107704201504921,
                        0.7107667660045776,
                        0.7107696369816133
                    ],
                    "moduleForcesY": [
                        1.626594828636707,
                        1.6265939162482599,
                        1.6265923629887014,
                        1.6265914506004506
                    ],
                    "timestamp": 1.051680109239894
                },
                {
                    "x": 3.6450708315017546,
                    "y": 2.13810692313759,
                    "heading": 2.8340007698537986,
                    "angularVelocity": 0.0007615970753266845,
                    "velocityX": 3.6559403744176957,
                    "velocityY": -1.5764216089495604,
                    "moduleForcesX": [
                        2.631079509353864,
                        2.631082958555022,
                        2.63107858018519,
                        2.631082029379925
                    ],
                    "moduleForcesY": [
                        6.066303873488049,
                        6.066302773688546,
                        6.066300937574668,
                        6.066299837778292
                    ],
                    "timestamp": 1.09948375056898
                },
                {
                    "x": 3.820943513998881,
                    "y": 2.065365712868466,
                    "heading": 2.8340372053944494,
                    "angularVelocity": 0.0007621917418469572,
                    "velocityX": 3.679064556743634,
                    "velocityY": -1.5216667234272996,
                    "moduleForcesX": [
                        8.95971379656714,
                        8.959660896091844,
                        8.959726003587514,
                        8.959673103125331
                    ],
                    "moduleForcesY": [
                        21.21529380776613,
                        21.215311274346085,
                        21.215334034174276,
                        21.21535150075077
                    ],
                    "timestamp": 1.1472873918980662
                },
                {
                    "x": 3.9992992450787113,
                    "y": 1.9989465783804234,
                    "heading": 2.8340738518887716,
                    "angularVelocity": 0.0007666046623946282,
                    "velocityX": 3.7310072229018454,
                    "velocityY": -1.3894157984912765,
                    "moduleForcesX": [
                        20.12591800818808,
                        20.125437659316013,
                        20.125963161989915,
                        20.12548281518574
                    ],
                    "moduleForcesY": [
                        51.241746997090466,
                        51.241919107910846,
                        51.24194208880943,
                        51.24211419883492
                    ],
                    "timestamp": 1.1950910332271523
                },
                {
                    "x": 4.1806921585323344,
                    "y": 1.941341648477484,
                    "heading": 2.8341111238536913,
                    "angularVelocity": 0.0007796888246093502,
                    "velocityX": 3.794541763145059,
                    "velocityY": -1.2050322590779174,
                    "moduleForcesX": [
                        24.61791242685034,
                        24.61621186436288,
                        24.61796176967657,
                        24.616261235849777
                    ],
                    "moduleForcesY": [
                        71.44080995704756,
                        71.4413881200297,
                        71.44106861857195,
                        71.44164677118026
                    ],
                    "timestamp": 1.2428946745562384
                },
                {
                    "x": 4.364918437109313,
                    "y": 1.8935774016636788,
                    "heading": 2.834149574510462,
                    "angularVelocity": 0.0008043457716052351,
                    "velocityX": 3.8538126689710133,
                    "velocityY": -0.999175909738561,
                    "moduleForcesX": [
                        22.966756697935907,
                        22.96329602349243,
                        22.966902806122057,
                        22.963442251684572
                    ],
                    "moduleForcesY": [
                        79.76047700428971,
                        79.7614811837332,
                        79.76068128410634,
                        79.76168543194375
                    ],
                    "timestamp": 1.2906983158853245
                },
                {
                    "x": 4.551515057490214,
                    "y": 1.8561475273078911,
                    "heading": 2.8341898635275355,
                    "angularVelocity": 0.0008428022626279127,
                    "velocityX": 3.903397632334067,
                    "velocityY": -0.78299211765304,
                    "moduleForcesX": [
                        19.214764659113907,
                        19.209163806563353,
                        19.215206265290657,
                        19.209605724832205
                    ],
                    "moduleForcesY": [
                        83.76184342371384,
                        83.76314830724803,
                        83.76195410563658,
                        83.76325894200663
                    ],
                    "timestamp": 1.3385019572144106
                },
                {
                    "x": 4.739925369440369,
                    "y": 1.8293361100619203,
                    "heading": 2.8342327854448293,
                    "angularVelocity": 0.0008978796614745383,
                    "velocityX": 3.9413380803590767,
                    "velocityY": -0.5608655847239302,
                    "moduleForcesX": [
                        14.703988338940901,
                        14.69580671097235,
                        14.704997614334658,
                        14.696816640221883
                    ],
                    "moduleForcesY": [
                        86.0644032840402,
                        86.06583113237313,
                        86.06441885476524,
                        86.06584667979989
                    ],
                    "timestamp": 1.3863055985434967
                },
                {
                    "x": 4.92955207824707,
                    "y": 1.8133193254470823,
                    "heading": 2.8342791644970555,
                    "angularVelocity": 0.0009701991508796926,
                    "velocityX": 3.9667837749280976,
                    "velocityY": -0.33505365218052324,
                    "moduleForcesX": [
                        9.8636792715351,
                        9.852832238961522,
                        9.865539921469582,
                        9.854694005044038
                    ],
                    "moduleForcesY": [
                        87.4924612169547,
                        87.49372159317181,
                        87.49241749252948,
                        87.49367796227094
                    ],
                    "timestamp": 1.4341092398725828
                },
                {
                    "x": 5.074681580716633,
                    "y": 1.8074189739755206,
                    "heading": 2.8343222462116686,
                    "angularVelocity": 0.0011804612596203162,
                    "velocityX": 3.976623419740215,
                    "velocityY": -0.16167268162054627,
                    "moduleForcesX": [
                        5.009822793222039,
                        4.968543251665926,
                        5.018928968912902,
                        4.977664952458247
                    ],
                    "moduleForcesY": [
                        87.99166659925432,
                        87.99418309409295,
                        87.99173818017981,
                        87.99425785628726
                    ],
                    "timestamp": 1.4706049014303595
                },
                {
                    "x": 5.219933220192832,
                    "y": 1.8078297591993857,
                    "heading": 2.834364299026819,
                    "angularVelocity": 0.001152268882256183,
                    "velocityX": 3.9799700368835533,
                    "velocityY": 0.011255727566816394,
                    "moduleForcesX": [
                        1.6964015235065888,
                        1.7018972131972805,
                        1.6950008517487112,
                        1.7004968073547386
                    ],
                    "moduleForcesY": [
                        87.76338615998641,
                        87.76324618849445,
                        87.76331578323592,
                        87.76317588884302
                    ],
                    "timestamp": 1.5071005629881362
                },
                {
                    "x": 5.365035109312477,
                    "y": 1.8145169303148623,
                    "heading": 2.8344048734210165,
                    "angularVelocity": 0.0011117593835985613,
                    "velocityX": 3.975866799672271,
                    "velocityY": 0.1832319467586564,
                    "moduleForcesX": [
                        -2.085196227902904,
                        -2.077388268476761,
                        -2.087498046985427,
                        -2.079689576711325
                    ],
                    "moduleForcesY": [
                        87.2800896667446,
                        87.28020595131645,
                        87.27985983897194,
                        87.2799763261023
                    ],
                    "timestamp": 1.543596224545913
                },
                {
                    "x": 5.5097193895050545,
                    "y": 1.8274227283807476,
                    "heading": 2.8344444172112055,
                    "angularVelocity": 0.0010835203008140565,
                    "velocityX": 3.964424099109238,
                    "velocityY": 0.35362554109216227,
                    "moduleForcesX": [
                        -5.809091288802587,
                        -5.803732976836904,
                        -5.8108878881292405,
                        -5.805529350050122
                    ],
                    "moduleForcesY": [
                        86.47682408527113,
                        86.47711350874769,
                        86.47654941115627,
                        86.4768389510769
                    ],
                    "timestamp": 1.5800918861036897
                },
                {
                    "x": 5.653721853823283,
                    "y": 1.8464642885646165,
                    "heading": 2.8344875625439947,
                    "angularVelocity": 0.0011822044305450146,
                    "velocityX": 3.945741991558424,
                    "velocityY": 0.5217485961646215,
                    "moduleForcesX": [
                        -9.475678744086833,
                        -9.494026079977546,
                        -9.468770933307967,
                        -9.487115820211613
                    ],
                    "moduleForcesY": [
                        85.3246236464143,
                        85.32293656935146,
                        85.32607276414689,
                        85.32438728418977
                    ],
                    "timestamp": 1.6165875476614664
                },
                {
                    "x": 5.796429719317995,
                    "y": 1.8714693039519696,
                    "heading": 2.835132560825528,
                    "angularVelocity": 0.01767328646754664,
                    "velocityX": 3.9102693143073055,
                    "velocityY": 0.6851503526732204,
                    "moduleForcesX": [
                        -17.23312484544663,
                        -20.16486487424405,
                        -15.863730284547485,
                        -18.74954884914143
                    ],
                    "moduleForcesY": [
                        82.98873524557322,
                        82.42428663759009,
                        83.40571224945187,
                        82.89481925258777
                    ],
                    "timestamp": 1.6530832092192431
                },
                {
                    "x": 5.93364050804458,
                    "y": 1.8985646184034648,
                    "heading": 2.845354494268529,
                    "angularVelocity": 0.28008626249503177,
                    "velocityX": 3.759646568109439,
                    "velocityY": 0.7424256280051287,
                    "moduleForcesX": [
                        -85.29703213313873,
                        -86.66847878800195,
                        -59.709274712967904,
                        -74.09675213575925
                    ],
                    "moduleForcesY": [
                        -2.893055902990402,
                        11.309249673130035,
                        61.41187792561643,
                        46.44353705199541
                    ],
                    "timestamp": 1.6895788707770198
                },
                {
                    "x": 6.064954995037353,
                    "y": 1.925901453857909,
                    "heading": 2.866287136695467,
                    "angularVelocity": 0.5735652275764173,
                    "velocityX": 3.5980848513976817,
                    "velocityY": 0.7490434283857816,
                    "moduleForcesX": [
                        -77.37176619652837,
                        -87.92062706858373,
                        -79.29889832720576,
                        -83.38689105745281
                    ],
                    "moduleForcesY": [
                        -41.4268684948836,
                        -10.756532042888646,
                        35.995782718146735,
                        29.622076094526648
                    ],
                    "timestamp": 1.7260745323347966
                },
                {
                    "x": 6.190139878928083,
                    "y": 1.9527677968947876,
                    "heading": 2.8948480390918303,
                    "angularVelocity": 0.7825834956066684,
                    "velocityX": 3.4301305565468914,
                    "velocityY": 0.7361516928346687,
                    "moduleForcesX": [
                        -79.08397789455968,
                        -87.42844203411997,
                        -87.24575478334582,
                        -87.19725405247532
                    ],
                    "moduleForcesY": [
                        -39.75000685277604,
                        -16.155354867167077,
                        12.7290400507933,
                        17.00546830542264
                    ],
                    "timestamp": 1.7625701938925733
                },
                {
                    "x": 6.309050864173062,
                    "y": 1.9788078158967077,
                    "heading": 2.9275253885457007,
                    "angularVelocity": 0.8953762737562279,
                    "velocityX": 3.258222489178297,
                    "velocityY": 0.7135099869527205,
                    "moduleForcesX": [
                        -83.92359653059344,
                        -87.389296558067,
                        -88.72302572291446,
                        -88.94586143886212
                    ],
                    "moduleForcesY": [
                        -29.243942950712096,
                        -17.11598316382956,
                        -2.9661125443658296,
                        3.36226890953857
                    ],
                    "timestamp": 1.79906585545035
                },
                {
                    "x": 6.421654471145016,
                    "y": 2.0038367380687685,
                    "heading": 2.9623666535766007,
                    "angularVelocity": 0.954668679611197,
                    "velocityX": 3.0853970627079645,
                    "velocityY": 0.6858054109373299,
                    "moduleForcesX": [
                        -86.00058590709043,
                        -87.43577773488798,
                        -88.47419496119605,
                        -88.93350546764384
                    ],
                    "moduleForcesY": [
                        -23.15602831924335,
                        -17.355840699745826,
                        -9.94083835455033,
                        -5.788936238241726
                    ],
                    "timestamp": 1.8355615170081268
                },
                {
                    "x": 6.527947643982541,
                    "y": 2.027739384942759,
                    "heading": 2.9981424345042393,
                    "angularVelocity": 0.9802748984561209,
                    "velocityX": 2.912487904055593,
                    "velocityY": 0.6549448853297194,
                    "moduleForcesX": [
                        -87.02447575246728,
                        -87.5241373036074,
                        -88.07661194123521,
                        -88.38881949618136
                    ],
                    "moduleForcesY": [
                        -19.482193523082334,
                        -17.249004553489467,
                        -13.915086897715769,
                        -12.002090584006284
                    ],
                    "timestamp": 1.8720571785659035
                },
                {
                    "x": 6.6279365324834085,
                    "y": 2.050436921322224,
                    "heading": 3.0340122652425725,
                    "angularVelocity": 0.9828519119059491,
                    "velocityX": 2.739747253041859,
                    "velocityY": 0.6219242345705259,
                    "moduleForcesX": [
                        -87.59529228698517,
                        -87.63616593264831,
                        -87.70077038119774,
                        -87.73973714895959
                    ],
                    "moduleForcesY": [
                        -17.131974831604946,
                        -16.935178853416996,
                        -16.57988994818393,
                        -16.386491577582728
                    ],
                    "timestamp": 1.9085528401236802
                },
                {
                    "x": 6.721629839952623,
                    "y": 2.0718721788482153,
                    "heading": 3.0693675385306065,
                    "angularVelocity": 0.9687527716701966,
                    "velocityX": 2.5672450770865924,
                    "velocityY": 0.5873371412121587,
                    "moduleForcesX": [
                        -87.941552045794,
                        -87.76024519623017,
                        -87.36190351217033,
                        -87.12414896937715
                    ],
                    "moduleForcesY": [
                        -15.568829535001806,
                        -16.492904307716486,
                        -18.560572055414553,
                        -19.59118436239551
                    ],
                    "timestamp": 1.945048501681457
                },
                {
                    "x": 6.809036538532107,
                    "y": 2.0920019851545812,
                    "heading": 3.1037478644112095,
                    "angularVelocity": 0.9420387085236138,
                    "velocityX": 2.3949887424591525,
                    "velocityY": 0.5515671026951624,
                    "moduleForcesX": [
                        -88.16391460156898,
                        -87.88837271812031,
                        -87.05509645254048,
                        -86.58139603823614
                    ],
                    "moduleForcesY": [
                        -14.50592869694885,
                        -15.973072689417746,
                        -20.13477002902646,
                        -22.001155343818613
                    ],
                    "timestamp": 1.9815441632392337
                },
                {
                    "x": 6.890165083177148,
                    "y": 2.110792724446265,
                    "heading": 3.136792626908712,
                    "angularVelocity": 0.9054435811552102,
                    "velocityX": 2.2229640779797584,
                    "velocityY": 0.5148759740095588,
                    "moduleForcesX": [
                        -88.31222937745645,
                        -88.01504292519576,
                        -86.7744039220258,
                        -86.11680186037418
                    ],
                    "moduleForcesY": [
                        -13.776707366221709,
                        -15.410906867043431,
                        -21.442488437636165,
                        -23.854682156823987
                    ],
                    "timestamp": 2.0180398247970106
                },
                {
                    "x": 6.9650231803017455,
                    "y": 2.128217580863819,
                    "heading": 3.1682111793499597,
                    "angularVelocity": 0.8608845846377954,
                    "velocityX": 2.0511505732287882,
                    "velocityY": 0.47745007690758756,
                    "moduleForcesX": [
                        -88.41357187522388,
                        -88.13657568347534,
                        -86.51546526913575,
                        -85.72420068625986
                    ],
                    "moduleForcesY": [
                        -13.277499819426296,
                        -14.831633703423753,
                        -22.56113690511447,
                        -25.306130203142132
                    ],
                    "timestamp": 2.0545354863547876
                },
                {
                    "x": 7.03361776682969,
                    "y": 2.1442547339760187,
                    "heading": 3.1977636478665774,
                    "angularVelocity": 0.8097529200788148,
                    "velocityX": 1.8795271437770276,
                    "velocityY": 0.4394262887058807,
                    "moduleForcesX": [
                        -88.48379777478036,
                        -88.25063638067027,
                        -86.27542913769301,
                        -85.39408807198413
                    ],
                    "moduleForcesY": [
                        -12.940007793506394,
                        -14.253628397612461,
                        -23.536606016342365,
                        -26.459906583202578
                    ],
                    "timestamp": 2.0910311479125645
                },
                {
                    "x": 7.095955065688516,
                    "y": 2.1588861275651414,
                    "heading": 3.2252481104268487,
                    "angularVelocity": 0.753088487429121,
                    "velocityX": 1.708074225758117,
                    "velocityY": 0.4009077508009943,
                    "moduleForcesX": [
                        -88.53280441712258,
                        -88.35587273476102,
                        -86.05253459451782,
                        -85.11659307482068
                    ],
                    "moduleForcesY": [
                        -12.717069755670423,
                        -13.690350352930686,
                        -24.397637509072325,
                        -27.389457255611347
                    ],
                    "timestamp": 2.1275268094703415
                },
                {
                    "x": 7.152040663956787,
                    "y": 2.172096601001805,
                    "heading": 3.2504917727359937,
                    "angularVelocity": 0.6916894017438588,
                    "velocityX": 1.5367743965809133,
                    "velocityY": 0.3619738038109029,
                    "moduleForcesX": [
                        -88.56712520513506,
                        -88.45163546004771,
                        -85.84575506225787,
                        -84.88251126157603
                    ],
                    "moduleForcesY": [
                        -12.574823237236807,
                        -13.151632590132161,
                        -25.163055612968616,
                        -28.148304182621825
                    ],
                    "timestamp": 2.1640224710281184
                },
                {
                    "x": 7.201879592241929,
                    "y": 2.183873259312606,
                    "heading": 3.2733447348793994,
                    "angularVelocity": 0.6261829808791572,
                    "velocityX": 1.3656124086484696,
                    "velocityY": 0.3226865278810415,
                    "moduleForcesX": [
                        -88.59129309649087,
                        -88.5377633237139,
                        -85.65454663201751,
                        -84.68359947175041
                    ],
                    "moduleForcesY": [
                        -12.488150088369817,
                        -12.64459549233911,
                        -25.845655443153117,
                        -28.77668961883529
                    ],
                    "timestamp": 2.2005181325858953
                },
                {
                    "x": 7.2454763973772724,
                    "y": 2.1942050056726607,
                    "heading": 3.2936754831331747,
                    "angularVelocity": 0.5570730159690204,
                    "velocityX": 1.194575006301326,
                    "velocityY": 0.2830951932108047,
                    "moduleForcesX": [
                        -88.60859485674459,
                        -88.61441886861154,
                        -85.47867907325988,
                        -84.51259489700016
                    ],
                    "moduleForcesY": [
                        -12.437905968267192,
                        -12.174326781485016,
                        -26.454407128581774,
                        -29.305704870823888
                    ],
                    "timestamp": 2.2370137941436723
                },
                {
                    "x": 7.282835206207249,
                    "y": 2.203082187533657,
                    "heading": 3.3113675563057985,
                    "angularVelocity": 0.4847719541846064,
                    "velocityX": 1.023650681624932,
                    "velocityY": 0.24323937372507798,
                    "moduleForcesX": [
                        -88.6215057748118,
                        -88.68196419274875,
                        -85.31812434288909,
                        -84.36314018589688
                    ],
                    "moduleForcesY": [
                        -12.409167864369984,
                        -11.74440691499209,
                        -26.9957591424969,
                        -29.759927931723986
                    ],
                    "timestamp": 2.2735094557014492
                },
                {
                    "x": 7.3139597805452485,
                    "y": 2.210496324142897,
                    "heading": 3.3263170266490607,
                    "angularVelocity": 0.40962321835420556,
                    "velocityX": 0.8528294325813853,
                    "velocityY": 0.2031511772297401,
                    "moduleForcesX": [
                        -88.63194849384371,
                        -88.74086819900161,
                        -85.17298366830157,
                        -84.22968556180741
                    ],
                    "moduleForcesY": [
                        -12.390087380356096,
                        -11.35732650477607,
                        -27.47443546713792,
                        -30.159149190257743
                    ],
                    "timestamp": 2.310005117259226
                },
                {
                    "x": 7.338853564239064,
                    "y": 2.216439893545495,
                    "heading": 3.338430554484507,
                    "angularVelocity": 0.3319169270645743,
                    "velocityX": 0.6821025467481064,
                    "velocityY": 0.16285687528060724,
                    "moduleForcesX": [
                        -88.64145105742215,
                        -88.7916382253939,
                        -85.04344026758858,
                        -84.10739444288868
                    ],
                    "moduleForcesY": [
                        -12.371117972470442,
                        -11.014824597311216,
                        -27.893936432015032,
                        -30.519523687119865
                    ],
                    "timestamp": 2.346500778817003
                },
                {
                    "x": 7.357519723495142,
                    "y": 2.2209061638305614,
                    "heading": 3.3476238520322794,
                    "angularVelocity": 0.2519011070183903,
                    "velocityX": 0.5114624166088441,
                    "velocityY": 0.12237811549176733,
                    "moduleForcesX": [
                        -88.65124525811973,
                        -88.83477016903404,
                        -84.92972903121348,
                        -83.99206123513821
                    ],
                    "moduleForcesY": [
                        -12.344480708726197,
                        -10.718166591115915,
                        -28.25686011306678,
                        -30.85435370758377
                    ],
                    "timestamp": 2.38299644037478
                },
                {
                    "x": 7.369961181570367,
                    "y": 2.2238890578057546,
                    "heading": 3.3538204419358166,
                    "angularVelocity": 0.1697897678530082,
                    "velocityX": 0.34090238521988786,
                    "velocityY": 0.08173283749004578,
                    "moduleForcesX": [
                        -88.66232867038944,
                        -88.87071222328635,
                        -84.83211729900549,
                        -83.88004312218419
                    ],
                    "moduleForcesY": [
                        -12.303786779339937,
                        -10.468374654021476,
                        -28.565112093957083,
                        -31.174627705340367
                    ],
                    "timestamp": 2.419492101932557
                },
                {
                    "x": 7.376180648803711,
                    "y": 2.225383043289185,
                    "heading": 3.356950629374594,
                    "angularVelocity": 0.08576875456339571,
                    "velocityX": 0.17041661852048848,
                    "velocityY": 0.04093597484362018,
                    "moduleForcesX": [
                        -88.67550414035426,
                        -88.89983819801868,
                        -84.75089268659998,
                        -83.76820533976374
                    ],
                    "moduleForcesY": [
                        -12.243765950378437,
                        -10.266419871942643,
                        -28.820044347047123,
                        -31.48939530204917
                    ],
                    "timestamp": 2.455987763490334
                },
                {
                    "x": 7.376180648803711,
                    "y": 2.225383043289185,
                    "heading": 3.356950629374594,
                    "angularVelocity": 6.197527100243734e-22,
                    "velocityX": 8.764738748061846e-21,
                    "velocityY": 4.8477748046425885e-21,
                    "moduleForcesX": [
                        -88.69140509628123,
                        -88.92242710331864,
                        -84.68635510399774,
                        -83.65387887773518
                    ],
                    "moduleForcesY": [
                        -12.160068603949933,
                        -10.11338299742765,
                        -29.022548521729956,
                        -31.80602990892552
                    ],
                    "timestamp": 2.492483425048111
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 1.0590639114379883,
                    "y": 3.2664806842803955,
                    "heading": 2.262133226164975,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 30
                },
                {
                    "timestamp": 1.4341092398725828,
                    "isStopPoint": false,
                    "x": 4.92955207824707,
                    "y": 1.8133193254470825,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 29
                },
                {
                    "timestamp": 2.492483425048111,
                    "isStopPoint": true,
                    "x": 7.376180648803711,
                    "y": 2.2253830432891846,
                    "heading": 3.356950629374594,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        },
        "Far to Out the Way": {
            "waypoints": [
                {
                    "x": 8.277570724487305,
                    "y": 2.4185380935668945,
                    "heading": -2.918832590731873,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 30
                },
                {
                    "x": 5.509016990661621,
                    "y": 1.8390733003616333,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 28
                },
                {
                    "x": 2.545189380645752,
                    "y": 3.06589937210083,
                    "heading": -4.068888149317489,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 8.277570724487305,
                    "y": 2.4185380935668945,
                    "heading": -2.918832590731873,
                    "angularVelocity": 4.6003402028198155e-20,
                    "velocityX": -3.3255386655085217e-20,
                    "velocityY": 2.36368123312102e-20,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 8.271265183918361,
                    "y": 2.416634335510635,
                    "heading": -2.922334785440006,
                    "angularVelocity": -0.09451287651321079,
                    "velocityX": -0.17016608921188403,
                    "velocityY": -0.05137625548472067,
                    "moduleForcesX": [
                        -88.07690969169272,
                        -88.24411196538541,
                        -82.90472154090247,
                        -81.00335030441077
                    ],
                    "moduleForcesY": [
                        -16.00825153659234,
                        -14.889119885318882,
                        -33.776091683833776,
                        -38.047924640016454
                    ],
                    "timestamp": 0.037055212340762214
                },
                {
                    "x": 8.258651881686417,
                    "y": 2.412828524240892,
                    "heading": -2.929266174468193,
                    "angularVelocity": -0.1870557093141261,
                    "velocityX": -0.3403921185488231,
                    "velocityY": -0.10270650279223402,
                    "moduleForcesX": [
                        -88.05927670873676,
                        -88.1858017491892,
                        -82.99689022988018,
                        -81.10696875356477
                    ],
                    "moduleForcesY": [
                        -16.079301789191025,
                        -15.19867918552767,
                        -33.53706101663353,
                        -37.814357271289964
                    ],
                    "timestamp": 0.07411042468152443
                },
                {
                    "x": 8.23972844777386,
                    "y": 2.4071225118784048,
                    "heading": -2.939547285326339,
                    "angularVelocity": -0.27745383736032214,
                    "velocityX": -0.5106821069740758,
                    "velocityY": -0.15398676736794448,
                    "moduleForcesX": [
                        -88.04413428766787,
                        -88.11527087066546,
                        -83.10809574033908,
                        -81.20931597354749
                    ],
                    "moduleForcesY": [
                        -16.133523151648212,
                        -15.56789768125691,
                        -33.24728089520661,
                        -37.58076234996561
                    ],
                    "timestamp": 0.11116563702228664
                },
                {
                    "x": 8.214492341193816,
                    "y": 2.39951834570933,
                    "heading": -2.9530912348208456,
                    "angularVelocity": -0.3655072697993291,
                    "velocityX": -0.6810406683942816,
                    "velocityY": -0.20521178233027418,
                    "moduleForcesX": [
                        -88.03012160811426,
                        -88.03185860204367,
                        -83.23747802865508,
                        -81.3144630824758
                    ],
                    "moduleForcesY": [
                        -16.178016385896537,
                        -15.99570387578502,
                        -32.90717049630053,
                        -37.33810756299902
                    ],
                    "timestamp": 0.14822084936304886
                },
                {
                    "x": 8.182940824903,
                    "y": 2.3900183273644773,
                    "heading": -2.9698025983739127,
                    "angularVelocity": -0.4509855023738201,
                    "velocityX": -0.8514730937355685,
                    "velocityY": -0.2563746837419234,
                    "moduleForcesX": [
                        -88.01557751196094,
                        -87.9348289210391,
                        -83.38410087880216,
                        -81.42709710562151
                    ],
                    "moduleForcesY": [
                        -16.221287275539584,
                        -16.48078914376266,
                        -32.51705298011902,
                        -37.07567944796898
                    ],
                    "timestamp": 0.18527606170381106
                },
                {
                    "x": 8.14507093695898,
                    "y": 2.3786250865794982,
                    "heading": -2.9895760070137722,
                    "angularVelocity": -0.5336201681432025,
                    "velocityX": -1.0219854522966467,
                    "velocityY": -0.30746661711733314,
                    "moduleForcesX": [
                        -87.99847469923353,
                        -87.82343327838683,
                        -83.54694102766774,
                        -81.55257342897004
                    ],
                    "moduleForcesY": [
                        -16.273573466028786,
                        -17.021331214153857,
                        -32.077172259288716,
                        -36.78083882716914
                    ],
                    "timestamp": 0.22233127404457326
                },
                {
                    "x": 8.100879457084359,
                    "y": 2.3653416739344846,
                    "heading": -3.012294356278989,
                    "angularVelocity": -0.6130945643030434,
                    "velocityX": -1.1925847157002862,
                    "velocityY": -0.3584762252300426,
                    "moduleForcesX": [
                        -87.97631761276163,
                        -87.69699421747983,
                        -83.72487840420952,
                        -81.69698923884188
                    ],
                    "moduleForcesY": [
                        -16.347291206318523,
                        -17.6146751174669,
                        -31.58769909734681,
                        -36.43864969193173
                    ],
                    "timestamp": 0.25938648638533546
                },
                {
                    "x": 8.05036286777503,
                    "y": 2.350171678519579,
                    "heading": -3.0378264581659407,
                    "angularVelocity": -0.6890286217268659,
                    "velocityX": -1.3632789051314882,
                    "velocityY": -0.4093889754402417,
                    "moduleForcesX": [
                        -87.94598291524838,
                        -87.55501620291867,
                        -83.9166891049591,
                        -81.86728580005001
                    ],
                    "moduleForcesY": [
                        -16.457656700243206,
                        -18.256966348582715,
                        -31.04871735953743,
                        -36.03131757523215
                    ],
                    "timestamp": 0.29644169872609766
                },
                {
                    "x": 7.993517309336249,
                    "y": 2.3331193786956153,
                    "heading": -3.06602388705774,
                    "angularVelocity": -0.7609571531393211,
                    "velocityX": -1.5340772552056228,
                    "velocityY": -0.4601862665675728,
                    "moduleForcesX": [
                        -87.90346744039198,
                        -87.39733041069601,
                        -84.12104333495546,
                        -82.07139102351849
                    ],
                    "moduleForcesY": [
                        -16.62356849173205,
                        -18.942730013811357,
                        -30.460174873821103,
                        -35.53733638245698
                    ],
                    "timestamp": 0.33349691106685986
                },
                {
                    "x": 7.93033852912302,
                    "y": 2.314189937434463,
                    "heading": -3.096716647944756,
                    "angularVelocity": -0.8282980705862234,
                    "velocityX": -1.7049903703757394,
                    "velocityY": -0.5108442258291535,
                    "moduleForcesX": [
                        -87.84348328400182,
                        -87.22428017501196,
                        -84.33651174287408,
                        -82.3184176760863
                    ],
                    "moduleForcesY": [
                        -16.86889090394039,
                        -19.664387855433013,
                        -29.821771371838896,
                        -34.93018030496436
                    ],
                    "timestamp": 0.37055212340762206
                },
                {
                    "x": 7.860821827596141,
                    "y": 2.293389658904306,
                    "heading": -3.1297071042070805,
                    "angularVelocity": -0.8903054166561488,
                    "velocityX": -1.8760303108672194,
                    "velocityY": -0.5613320560377989,
                    "moduleForcesX": [
                        -87.7587925592163,
                        -87.03695293474074,
                        -84.56158602922358,
                        -82.61893516800441
                    ],
                    "moduleForcesY": [
                        -17.22437214176637,
                        -20.411701592272664,
                        -29.13273251207439,
                        -34.1762691466778
                    ],
                    "timestamp": 0.40760733574838426
                },
                {
                    "x": 7.784962009306898,
                    "y": 2.270726331477073,
                    "heading": -3.1647612967144014,
                    "angularVelocity": -0.9459989645980269,
                    "velocityX": -2.047210459668209,
                    "velocityY": -0.6116097033480619,
                    "moduleForcesX": [
                        -87.63908222496443,
                        -86.83746229881051,
                        -84.79472483316118,
                        -82.98532901647138
                    ],
                    "moduleForcesY": [
                        -17.73060022305234,
                        -21.171125131843596,
                        -28.391371055204395,
                        -33.23174051263186
                    ],
                    "timestamp": 0.44466254808914646
                },
                {
                    "x": 7.702753359456485,
                    "y": 2.246209697070901,
                    "heading": -3.201596280094767,
                    "angularVelocity": -0.9940567346269195,
                    "velocityX": -2.218544832354619,
                    "velocityY": -0.6616244478837479,
                    "moduleForcesX": [
                        -87.46899008564881,
                        -86.62927912179681,
                        -85.03444694435726,
                        -83.43223656515129
                    ],
                    "moduleForcesY": [
                        -18.442720000281046,
                        -21.92503918810715,
                        -27.594233403013668,
                        -32.03719804605753
                    ],
                    "timestamp": 0.48171776042990866
                },
                {
                    "x": 7.614189695324446,
                    "y": 2.219852113669605,
                    "heading": -3.2398612269593428,
                    "angularVelocity": -1.032646811268789,
                    "velocityX": -2.3900460566143598,
                    "velocityY": -0.7113056905168933,
                    "moduleForcesX": [
                        -87.22448070406104,
                        -86.41760072154531,
                        -85.27951860202225,
                        -83.97695475896595
                    ],
                    "moduleForcesY": [
                        -19.438267110413967,
                        -22.650830211488557,
                        -26.734395435456573,
                        -30.50889610714919
                    ],
                    "timestamp": 0.5187729727706709
                },
                {
                    "x": 7.519264609297843,
                    "y": 2.1916695300799,
                    "heading": -3.2791084569144466,
                    "angularVelocity": -1.0591554460458557,
                    "velocityX": -2.5617202015648655,
                    "velocityY": -0.7605565265835299,
                    "moduleForcesX": [
                        -86.86580899890559,
                        -86.20972642838088,
                        -85.52933981172343,
                        -84.63941617548362
                    ],
                    "moduleForcesY": [
                        -20.830789001007172,
                        -23.319766652673202,
                        -25.79789722633206,
                        -28.523383587487444
                    ],
                    "timestamp": 0.5558281851114332
                },
                {
                    "x": 7.4179721872263995,
                    "y": 2.1616830007211782,
                    "heading": -3.318747468359321,
                    "angularVelocity": -1.0697283577908403,
                    "velocityX": -2.7335539502499238,
                    "velocityY": -0.8092391721565035,
                    "moduleForcesX": [
                        -86.32288566153805,
                        -86.01535974322282,
                        -85.78477998559279,
                        -85.4403768068946
                    ],
                    "moduleForcesY": [
                        -22.79480169947893,
                        -23.895640708926653,
                        -24.755761459639913,
                        -25.88959581626835
                    ],
                    "timestamp": 0.5928833974521954
                },
                {
                    "x": 7.310308929375197,
                    "y": 2.129921217400271,
                    "heading": -3.3579687144362844,
                    "angularVelocity": -1.0584542254482792,
                    "velocityX": -2.9054821454301716,
                    "velocityY": -0.857147518919159,
                    "moduleForcesX": [
                        -85.46215560046726,
                        -85.84664062791187,
                        -86.05010005425311,
                        -86.39334169024808
                    ],
                    "moduleForcesY": [
                        -25.614245965344285,
                        -24.33325312634164,
                        -23.54436016683524,
                        -22.295811867660834
                    ],
                    "timestamp": 0.6299386097929577
                },
                {
                    "x": 7.196278887151397,
                    "y": 2.096425195219594,
                    "heading": -3.3956099899924514,
                    "angularVelocity": -1.0158159454064266,
                    "velocityX": -3.0773010062706168,
                    "velocityY": -0.9039490010918234,
                    "moduleForcesX": [
                        -84.00353637021138,
                        -85.71741478115739,
                        -86.3376615106699,
                        -87.47502286488961
                    ],
                    "moduleForcesY": [
                        -29.782020676596314,
                        -24.5772235489914,
                        -22.010294639217108,
                        -17.205073608935567
                    ],
                    "timestamp": 0.6669938221337199
                },
                {
                    "x": 7.075908128529132,
                    "y": 2.0612584879329194,
                    "heading": -3.4299069477026416,
                    "angularVelocity": -0.9255636533611774,
                    "velocityX": -3.248416377035379,
                    "velocityY": -0.9490353735738785,
                    "moduleForcesX": [
                        -81.28669426680183,
                        -85.64052445821598,
                        -86.67942577616223,
                        -88.52043704166127
                    ],
                    "moduleForcesY": [
                        -36.20772164442599,
                        -24.562582433414654,
                        -19.72288090364406,
                        -9.652247107398571
                    ],
                    "timestamp": 0.7040490344744822
                },
                {
                    "x": 6.949288076886434,
                    "y": 2.024537833745056,
                    "heading": -3.4580129385504685,
                    "angularVelocity": -0.7584895368932888,
                    "velocityX": -3.417064527341124,
                    "velocityY": -0.9909713605248771,
                    "moduleForcesX": [
                        -75.57924454397754,
                        -85.62135888564758,
                        -87.1330698211755,
                        -88.86046199157724
                    ],
                    "moduleForcesY": [
                        -46.52112198731672,
                        -24.21436593404156,
                        -15.125971852403195,
                        2.0148902748252397
                    ],
                    "timestamp": 0.7411042468152444
                },
                {
                    "x": 6.816653288396297,
                    "y": 1.9865663860424998,
                    "heading": -3.4757722900347323,
                    "angularVelocity": -0.4792672977001942,
                    "velocityX": -3.5793827672718215,
                    "velocityY": -1.0247262207909675,
                    "moduleForcesX": [
                        -64.95994218437046,
                        -85.69561793638763,
                        -87.01776648718858,
                        -86.86482248097333
                    ],
                    "moduleForcesY": [
                        -59.81389086414677,
                        -23.16867809576606,
                        -1.9897620645309158,
                        17.483058850291915
                    ],
                    "timestamp": 0.7781594591560067
                },
                {
                    "x": 6.678050193852706,
                    "y": 1.9479266622829061,
                    "heading": -3.4824489557599274,
                    "angularVelocity": -0.18018155350981996,
                    "velocityX": -3.740447990663139,
                    "velocityY": -1.0427608241523538,
                    "moduleForcesX": [
                        -67.46578323991949,
                        -86.19024403615948,
                        -83.81878538107128,
                        -84.55806241794564
                    ],
                    "moduleForcesY": [
                        -55.06414315179748,
                        -18.065297433615644,
                        13.412751450760561,
                        23.6584075949064
                    ],
                    "timestamp": 0.815214671496769
                },
                {
                    "x": 6.534845295845486,
                    "y": 1.912745071363108,
                    "heading": -3.4825192414425867,
                    "angularVelocity": -0.0018967826176043243,
                    "velocityX": -3.864635741128424,
                    "velocityY": -0.9494370345598315,
                    "moduleForcesX": [
                        -68.31862162649396,
                        -74.60372495490522,
                        -44.877675654309485,
                        -60.50024699298707
                    ],
                    "moduleForcesY": [
                        34.027257666740795,
                        32.67011662473386,
                        64.48101472435418,
                        55.412655547322025
                    ],
                    "timestamp": 0.8522698838375312
                },
                {
                    "x": 6.390311247350579,
                    "y": 1.8833699858605457,
                    "heading": -3.4825612101146373,
                    "angularVelocity": -0.0011325983417491668,
                    "velocityX": -3.9005052019611117,
                    "velocityY": -0.7927382855730811,
                    "moduleForcesX": [
                        -17.898919577831176,
                        -18.024533575885496,
                        -17.83409876409427,
                        -17.95964038558181
                    ],
                    "moduleForcesY": [
                        78.32205514711323,
                        78.30224056282935,
                        78.3489983438046,
                        78.32927737890212
                    ],
                    "timestamp": 0.8893250961782935
                },
                {
                    "x": 6.244678235710589,
                    "y": 1.8600562519630404,
                    "heading": -3.4826035598576786,
                    "angularVelocity": -0.001142882211866861,
                    "velocityX": -3.9301626529822427,
                    "velocityY": -0.629162064519042,
                    "moduleForcesX": [
                        -14.824696821941455,
                        -14.822926800619973,
                        -14.825541135098087,
                        -14.823771096268446
                    ],
                    "moduleForcesY": [
                        81.76335124658588,
                        81.76359386749198,
                        81.76308075502179,
                        81.763323394073
                    ],
                    "timestamp": 0.9263803085190557
                },
                {
                    "x": 6.098184617331867,
                    "y": 1.8429865360770257,
                    "heading": -3.482646799306332,
                    "angularVelocity": -0.0011668924807616405,
                    "velocityX": -3.953387637656737,
                    "velocityY": -0.4606562695968448,
                    "moduleForcesX": [
                        -11.610179372600038,
                        -11.605897887201985,
                        -11.612052113875318,
                        -11.607770511000497
                    ],
                    "moduleForcesY": [
                        84.22736879592973,
                        84.22784069107495,
                        84.22691461577547,
                        84.22738660997565
                    ],
                    "timestamp": 0.963435520859818
                },
                {
                    "x": 5.951091892107138,
                    "y": 1.8322861594144508,
                    "heading": -3.4826913625875155,
                    "angularVelocity": -0.0012026184271695663,
                    "velocityX": -3.969555588349166,
                    "velocityY": -0.2887684616181246,
                    "moduleForcesX": [
                        -8.083505494828872,
                        -8.076958403692515,
                        -8.086095249978936,
                        -8.079547852918799
                    ],
                    "moduleForcesY": [
                        85.91785023959086,
                        85.9183506695268,
                        85.91739324509993,
                        85.91789388177175
                    ],
                    "timestamp": 1.0004907332005801
                },
                {
                    "x": 5.803675934595414,
                    "y": 1.8280377302863617,
                    "heading": -3.4827377522390686,
                    "angularVelocity": -0.0012519062399798419,
                    "velocityX": -3.9782785794361795,
                    "velocityY": -0.1146513232475966,
                    "moduleForcesX": [
                        -4.36315721936517,
                        -4.353936039517503,
                        -4.36641322729835,
                        -4.357191386757368
                    ],
                    "moduleForcesY": [
                        87.03221424574865,
                        87.03256966940076,
                        87.03182931176607,
                        87.0321850865502
                    ],
                    "timestamp": 1.0375459455413423
                },
                {
                    "x": 5.656221257698054,
                    "y": 1.8302917498839646,
                    "heading": -3.4827865495162307,
                    "angularVelocity": -0.001316880246507029,
                    "velocityX": -3.979323490076484,
                    "velocityY": 0.0608286784831984,
                    "moduleForcesX": [
                        -0.5265500845408579,
                        -0.5142079405994048,
                        -0.5303868346684962,
                        -0.5180434243452122
                    ],
                    "moduleForcesY": [
                        87.71356062341042,
                        87.71353848363958,
                        87.71331097224652,
                        87.71328934565867
                    ],
                    "timestamp": 1.0746011578821044
                },
                {
                    "x": 5.509016990661621,
                    "y": 1.8390733003616333,
                    "heading": -3.4828380190748573,
                    "angularVelocity": -0.0013889964562428018,
                    "velocityX": -3.9725657400834975,
                    "velocityY": 0.2369855662116571,
                    "moduleForcesX": [
                        3.3727930007257223,
                        3.3866367806533453,
                        3.369065482707148,
                        3.3829109442720813
                    ],
                    "moduleForcesY": [
                        88.05209599454005,
                        88.05149185981017,
                        88.0520385789959,
                        88.05143493614317
                    ],
                    "timestamp": 1.1116563702228666
                },
                {
                    "x": 5.332703232364151,
                    "y": 1.859112527643887,
                    "heading": -3.482885687082303,
                    "angularVelocity": -0.001069320369284835,
                    "velocityX": -3.955187204910374,
                    "velocityY": 0.4495332418092183,
                    "moduleForcesX": [
                        7.24056781359425,
                        7.18912655970727,
                        7.25234286783704,
                        7.200925818320906
                    ],
                    "moduleForcesY": [
                        88.31111591633574,
                        88.3154731692565,
                        88.31064980975412,
                        88.3150117403962
                    ],
                    "timestamp": 1.1562342243579575
                },
                {
                    "x": 5.1577016319186635,
                    "y": 1.8885323884000484,
                    "heading": -3.482928846927886,
                    "angularVelocity": -0.0009681902913445498,
                    "velocityX": -3.9257520093982192,
                    "velocityY": 0.6599658356593765,
                    "moduleForcesX": [
                        12.236924832812356,
                        12.220693180338861,
                        12.23981549960151,
                        12.223586363557827
                    ],
                    "moduleForcesY": [
                        87.43318718621059,
                        87.43550793519891,
                        87.43299425004973,
                        87.43531516503481
                    ],
                    "timestamp": 1.2008120784930485
                },
                {
                    "x": 4.984501709635725,
                    "y": 1.9271962343034983,
                    "heading": -3.4829691077239398,
                    "angularVelocity": -0.0009031568888936588,
                    "velocityX": -3.885335569497239,
                    "velocityY": 0.8673330435847111,
                    "moduleForcesX": [
                        16.797425413575585,
                        16.78707688379063,
                        16.798795306380807,
                        16.78844782967726
                    ],
                    "moduleForcesY": [
                        86.15960383088922,
                        86.16165391459464,
                        86.15952699726238,
                        86.16157703199234
                    ],
                    "timestamp": 1.2453899326281395
                },
                {
                    "x": 4.813568254550488,
                    "y": 1.9749077982593226,
                    "heading": -3.4830072554171023,
                    "angularVelocity": -0.0008557543628434286,
                    "velocityX": -3.83449267358699,
                    "velocityY": 1.0702974578189461,
                    "moduleForcesX": [
                        21.12848563745902,
                        21.121060218407912,
                        21.129148449175393,
                        21.121723583039067
                    ],
                    "moduleForcesY": [
                        84.33027878810958,
                        84.33216184483908,
                        84.33031809981493,
                        84.33220107042611
                    ],
                    "timestamp": 1.2899677867632304
                },
                {
                    "x": 4.645321421255633,
                    "y": 2.0313769374746853,
                    "heading": -3.483043920020847,
                    "angularVelocity": -0.0008224847170502677,
                    "velocityX": -3.7742245910941614,
                    "velocityY": 1.266753196424339,
                    "moduleForcesX": [
                        25.04365940344492,
                        25.038579437935685,
                        25.043915387401363,
                        25.03883568342292
                    ],
                    "moduleForcesY": [
                        81.626039237352,
                        81.62760941472406,
                        81.62619148483843,
                        81.62776159316275
                    ],
                    "timestamp": 1.3345456408983214
                },
                {
                    "x": 4.48008347630932,
                    "y": 2.096129843444977,
                    "heading": -3.483079631936671,
                    "angularVelocity": -0.0008011133895238172,
                    "velocityX": -3.706727211353989,
                    "velocityY": 1.452580148296317,
                    "moduleForcesX": [
                        28.046533978495734,
                        28.04340717370832,
                        28.046599967344218,
                        28.043473261682102
                    ],
                    "moduleForcesY": [
                        77.20997768490662,
                        77.21111130074584,
                        77.2102174688863,
                        77.21135104808303
                    ],
                    "timestamp": 1.3791234950334124
                },
                {
                    "x": 4.317921933265057,
                    "y": 2.1682449304666944,
                    "heading": -3.483114839277105,
                    "angularVelocity": -0.0007897944196157154,
                    "velocityX": -3.6377153227883423,
                    "velocityY": 1.6177334782241386,
                    "moduleForcesX": [
                        28.675027304175174,
                        28.673500036339586,
                        28.67505690026295,
                        28.673529655665195
                    ],
                    "moduleForcesY": [
                        68.62037734688212,
                        68.62099765147943,
                        68.62064786458012,
                        68.62126815856584
                    ],
                    "timestamp": 1.4237013491685033
                },
                {
                    "x": 4.158238264695786,
                    "y": 2.2456933189055195,
                    "heading": -3.4831498795677436,
                    "angularVelocity": -0.0007860470477584685,
                    "velocityX": -3.5821299985721278,
                    "velocityY": 1.7373736340946493,
                    "moduleForcesX": [
                        23.095765085501217,
                        23.095337084020983,
                        23.095807623384278,
                        23.095379622826343
                    ],
                    "moduleForcesY": [
                        49.71002674401792,
                        49.71020383272868,
                        49.710206691513655,
                        49.71038377976764
                    ],
                    "timestamp": 1.4682792033035943
                },
                {
                    "x": 3.9997836972553715,
                    "y": 2.325603557986695,
                    "heading": -3.4831942550488826,
                    "angularVelocity": -0.000995460234682263,
                    "velocityX": -3.554557986578006,
                    "velocityY": 1.7925995010663658,
                    "moduleForcesX": [
                        11.448602223894197,
                        11.468519822018902,
                        11.443692231755474,
                        11.463612002676836
                    ],
                    "moduleForcesY": [
                        22.957367195985594,
                        22.949873350682928,
                        22.942564330719858,
                        22.9350699570312
                    ],
                    "timestamp": 1.5128570574386853
                },
                {
                    "x": 3.8475803926641534,
                    "y": 2.402886038632493,
                    "heading": -3.4982761389359034,
                    "angularVelocity": -0.3383268257219335,
                    "velocityX": -3.414325510824225,
                    "velocityY": 1.7336518804064234,
                    "moduleForcesX": [
                        60.5083757347384,
                        72.86313085913713,
                        39.29429712429182,
                        60.399260545531405
                    ],
                    "moduleForcesY": [
                        3.8629084858380245,
                        -11.43979919603868,
                        -47.735052546302754,
                        -42.65845142884605
                    ],
                    "timestamp": 1.5574349115737762
                },
                {
                    "x": 3.7030362486346053,
                    "y": 2.476386506547327,
                    "heading": -3.5324171504852284,
                    "angularVelocity": -0.7658738225905268,
                    "velocityX": -3.2425101394859674,
                    "velocityY": 1.6488112615759574,
                    "moduleForcesX": [
                        86.60527470524538,
                        86.84057275948535,
                        43.87363623096226,
                        68.23605789476854
                    ],
                    "moduleForcesY": [
                        7.088619377635849,
                        -16.513269347367114,
                        -75.33940893385159,
                        -56.24025677727593
                    ],
                    "timestamp": 1.6020127657088672
                },
                {
                    "x": 3.5667512727382564,
                    "y": 2.5457371644321554,
                    "heading": -3.5768352085309068,
                    "angularVelocity": -0.9964153481024907,
                    "velocityX": -3.0572350002156736,
                    "velocityY": 1.5557199697115323,
                    "moduleForcesX": [
                        87.06853437637015,
                        85.39888678118636,
                        63.803169272784274,
                        71.65495968483941
                    ],
                    "moduleForcesY": [
                        -15.822269109242706,
                        -24.8423830287809,
                        -61.35818494321333,
                        -52.69402008148786
                    ],
                    "timestamp": 1.6465906198439582
                },
                {
                    "x": 3.4389554813384002,
                    "y": 2.610793664073374,
                    "heading": -3.6251732553197855,
                    "angularVelocity": -1.0843511363824807,
                    "velocityX": -2.866799981277094,
                    "velocityY": 1.4593905629481772,
                    "moduleForcesX": [
                        83.19972966353626,
                        82.54883298492557,
                        74.92914822843915,
                        75.82351102912378
                    ],
                    "moduleForcesY": [
                        -31.627281296530263,
                        -33.59634831026801,
                        -48.03882131856678,
                        -46.836122939968334
                    ],
                    "timestamp": 1.6911684739790491
                },
                {
                    "x": 3.3196916036906687,
                    "y": 2.671520273239467,
                    "heading": -3.674699111644002,
                    "angularVelocity": -1.1109968679544515,
                    "velocityX": -2.6754064313264725,
                    "velocityY": 1.3622595870595393,
                    "moduleForcesX": [
                        80.77790920540552,
                        80.5696894222338,
                        78.41140818990105,
                        78.33528467325446
                    ],
                    "moduleForcesY": [
                        -37.84158402422557,
                        -38.34321511434471,
                        -42.52560252926733,
                        -42.72037259324322
                    ],
                    "timestamp": 1.73574632811414
                },
                {
                    "x": 3.20896753538593,
                    "y": 2.727904837532401,
                    "heading": -3.7238456777013704,
                    "angularVelocity": -1.1024883770410292,
                    "velocityX": -2.4838357622415588,
                    "velocityY": 1.2648559556512398,
                    "moduleForcesX": [
                        79.18914286534378,
                        79.27293815691633,
                        79.91550320490656,
                        80.01107760968578
                    ],
                    "moduleForcesY": [
                        -41.27806511027083,
                        -41.10272137662215,
                        -39.85498913899169,
                        -39.648149560973
                    ],
                    "timestamp": 1.780324182249231
                },
                {
                    "x": 3.1067820556423333,
                    "y": 2.7799434284919475,
                    "heading": -3.7715755678387155,
                    "angularVelocity": -1.0707085628819628,
                    "velocityX": -2.292292478545907,
                    "velocityY": 1.167364198417118,
                    "moduleForcesX": [
                        78.02778977600278,
                        78.43781149124031,
                        80.6646756273402,
                        81.212870681225
                    ],
                    "moduleForcesY": [
                        -43.55673040490755,
                        -42.77194255984709,
                        -38.4599741787312,
                        -37.24174234237373
                    ],
                    "timestamp": 1.824902036384322
                },
                {
                    "x": 3.0131313273839857,
                    "y": 2.827635597429286,
                    "heading": -3.8171417634106937,
                    "angularVelocity": -1.0221711308465418,
                    "velocityX": -2.100835270683189,
                    "velocityY": 1.0698623758968324,
                    "moduleForcesX": [
                        77.11444395447027,
                        77.91405765638777,
                        81.05532765471159,
                        82.11626108026056
                    ],
                    "moduleForcesY": [
                        -45.23333273737747,
                        -43.78839342718814,
                        -37.72802158235103,
                        -35.29737015048926
                    ],
                    "timestamp": 1.869479890519413
                },
                {
                    "x": 2.9280109161993977,
                    "y": 2.8709824848370595,
                    "heading": -3.8599759076553433,
                    "angularVelocity": -0.960883942839487,
                    "velocityX": -1.9094775384799352,
                    "velocityY": 0.9723861376634285,
                    "moduleForcesX": [
                        76.36265578270786,
                        77.60262838977864,
                        81.25279521641795,
                        82.81668334047406
                    ],
                    "moduleForcesY": [
                        -46.546323592174666,
                        -44.39062372653536,
                        -37.37181953912435,
                        -33.69583019385346
                    ],
                    "timestamp": 1.914057744654504
                },
                {
                    "x": 2.8514164783002225,
                    "y": 2.9099859552944425,
                    "heading": -3.899628736121258,
                    "angularVelocity": -0.8895185565852638,
                    "velocityX": -1.7182172490189214,
                    "velocityY": 0.8749517269095124,
                    "moduleForcesX": [
                        75.72670127842231,
                        77.43620321643958,
                        81.33872936698974,
                        83.37117994050254
                    ],
                    "moduleForcesY": [
                        -47.61436344930933,
                        -44.721711058767745,
                        -37.237770143882635,
                        -32.3612355196873
                    ],
                    "timestamp": 1.958635598789595
                },
                {
                    "x": 2.7833439917442475,
                    "y": 2.944648165801662,
                    "heading": -3.935735287137679,
                    "angularVelocity": -0.8099661079916928,
                    "velocityX": -1.5270471824350453,
                    "velocityY": 0.7775657034130932,
                    "moduleForcesX": [
                        75.18039625751908,
                        77.3671969166155,
                        81.35871937395834,
                        83.81655167556976
                    ],
                    "moduleForcesY": [
                        -48.50323401970139,
                        -44.87455024488619,
                        -37.235471269283586,
                        -31.24140546798328
                    ],
                    "timestamp": 2.003213452924686
                },
                {
                    "x": 2.723789817394992,
                    "y": 2.9749713368036956,
                    "heading": -3.967993213734566,
                    "angularVelocity": -0.723631211568215,
                    "velocityX": -1.335958751373865,
                    "velocityY": 0.6802294904132662,
                    "moduleForcesX": [
                        74.70767852362233,
                        77.36078250468259,
                        81.34072499139543,
                        84.17800072810651
                    ],
                    "moduleForcesY": [
                        -49.25261169076621,
                        -44.913479806318826,
                        -37.30770930991958,
                        -30.298075614980675
                    ],
                    "timestamp": 2.047791307059777
                },
                {
                    "x": 2.672750694707374,
                    "y": 3.0009576244788234,
                    "heading": -3.9961485969396824,
                    "angularVelocity": -0.6316002362920606,
                    "velocityX": -1.144943463023945,
                    "velocityY": 0.5829416462350923,
                    "moduleForcesX": [
                        74.2980747300378,
                        77.39076967825667,
                        81.30319694120985,
                        84.47358289568913
                    ],
                    "moduleForcesY": [
                        -49.88812162258389,
                        -44.885380330473296,
                        -37.41620122191024,
                        -29.501784717425718
                    ],
                    "timestamp": 2.092369161194868
                },
                {
                    "x": 2.630223713897692,
                    "y": 3.02260904599297,
                    "heading": -4.019986322153205,
                    "angularVelocity": -0.5347436675907026,
                    "velocityX": -0.9539934488730482,
                    "velocityY": 0.4856990524605566,
                    "moduleForcesX": [
                        73.94438197357793,
                        77.4370747389384,
                        81.25902019489834,
                        84.71666222897373
                    ],
                    "moduleForcesY": [
                        -50.42725486890015,
                        -44.82572420813971,
                        -37.53420551390175,
                        -28.829097553459025
                    ],
                    "timestamp": 2.136947015329959
                },
                {
                    "x": 2.5962062815072198,
                    "y": 3.039927433477057,
                    "heading": -4.039323356022404,
                    "angularVelocity": -0.433781173283924,
                    "velocityX": -0.7631016129082624,
                    "velocityY": 0.3884975582632394,
                    "moduleForcesX": [
                        73.64143061391735,
                        77.48409057987737,
                        81.21757976005318,
                        84.91734658088535
                    ],
                    "moduleForcesY": [
                        -50.882466212287916,
                        -44.76205292611137,
                        -37.64241398767419,
                        -28.2610419050558
                    ],
                    "timestamp": 2.1815248694650498
                },
                {
                    "x": 2.570696086089035,
                    "y": 3.0529144041311906,
                    "heading": -4.054003918862615,
                    "angularVelocity": -0.32932412573566977,
                    "velocityX": -0.5722616288546449,
                    "velocityY": 0.291332342170811,
                    "moduleForcesX": [
                        73.3854064611844,
                        77.51958204345709,
                        81.18591093055119,
                        85.08337070772268
                    ],
                    "moduleForcesY": [
                        -51.262876402459774,
                        -44.71607594387122,
                        -37.72653078379701,
                        -27.78219802968629
                    ],
                    "timestamp": 2.2261027236001407
                },
                {
                    "x": 2.553691066179149,
                    "y": 3.061571339755987,
                    "heading": -4.063895909300219,
                    "angularVelocity": -0.22190369252917527,
                    "velocityX": -0.3814678889282325,
                    "velocityY": 0.19419812354708046,
                    "moduleForcesX": [
                        73.1734743436603,
                        77.5339028612063,
                        81.16937280687439,
                        85.22066282389991
                    ],
                    "moduleForcesY": [
                        -51.57524297522943,
                        -44.70499648102846,
                        -37.775774910733155,
                        -27.380149289511373
                    ],
                    "timestamp": 2.2706805777352317
                },
                {
                    "x": 2.545189380645752,
                    "y": 3.06589937210083,
                    "heading": -4.068888149317489,
                    "angularVelocity": -0.11198924026585545,
                    "velocityX": -0.19071545049339245,
                    "velocityY": 0.09708929307661894,
                    "moduleForcesX": [
                        73.00356723354956,
                        77.51942280551835,
                        81.17205978788971,
                        85.33372031564264
                    ],
                    "moduleForcesY": [
                        -51.82453159658593,
                        -44.742382427245644,
                        -37.78191626013145,
                        -27.04513849905258
                    ],
                    "timestamp": 2.3152584318703227
                },
                {
                    "x": 2.545189380645752,
                    "y": 3.06589937210083,
                    "heading": -4.068888149317489,
                    "angularVelocity": -1.237629858886285e-19,
                    "velocityX": -9.803193975027108e-20,
                    "velocityY": -7.774543037017157e-21,
                    "moduleForcesX": [
                        72.8742653687564,
                        77.47010393169913,
                        81.1970623406368,
                        85.42586488846544
                    ],
                    "moduleForcesY": [
                        -52.01426369405791,
                        -44.83875392217947,
                        -37.73863512699993,
                        -26.769845073784168
                    ],
                    "timestamp": 2.3598362860054136
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 8.277570724487305,
                    "y": 2.4185380935668945,
                    "heading": -2.918832590731873,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 30
                },
                {
                    "timestamp": 1.1116563702228666,
                    "isStopPoint": false,
                    "x": 5.509016990661621,
                    "y": 1.8390733003616333,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": false,
                    "controlIntervalCount": 28
                },
                {
                    "timestamp": 2.3598362860054136,
                    "isStopPoint": true,
                    "x": 2.545189380645752,
                    "y": 3.06589937210083,
                    "heading": -4.068888149317489,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        },
        "Left Note to Middle": {
            "waypoints": [
                {
                    "x": 2.882530689239502,
                    "y": 7.0045881271362305,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 21
                },
                {
                    "x": 2.098439931869507,
                    "y": 6.3299055099487305,
                    "heading": -2.6526739108095962,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 2.882530689239502,
                    "y": 7.0045881271362305,
                    "heading": -1.1826187245669206e-17,
                    "angularVelocity": -4.3197972642562905e-19,
                    "velocityX": -3.662179424018482e-18,
                    "velocityY": 3.589019128645449e-18,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 2.8775339792389785,
                    "y": 6.997792294088173,
                    "heading": -0.0370339269703099,
                    "angularVelocity": -0.9339368018851061,
                    "velocityX": -0.12600908787170323,
                    "velocityY": -0.1713801128391226,
                    "moduleForcesX": [
                        -4.904656898057849,
                        -104.85287992336107,
                        8.548287526993057,
                        -134.2237458180138
                    ],
                    "moduleForcesY": [
                        -134.19071035817146,
                        -83.96102931140476,
                        -106.53127429991214,
                        4.47965443478972
                    ],
                    "timestamp": 0.0396535685236503
                },
                {
                    "x": 2.8663905830641814,
                    "y": 6.9838304524242085,
                    "heading": -0.10444552635500366,
                    "angularVelocity": -1.700013438752377,
                    "velocityX": -0.28101874786252834,
                    "velocityY": -0.35209546539646047,
                    "moduleForcesX": [
                        -15.465053353404748,
                        -107.70459113395337,
                        -32.24743101750131,
                        -134.2000397317626
                    ],
                    "moduleForcesY": [
                        -133.36898502765447,
                        -80.24470110597977,
                        -128.5098727718972,
                        4.478414146660178
                    ],
                    "timestamp": 0.0793071370473006
                },
                {
                    "x": 2.848780500836116,
                    "y": 6.962841641487023,
                    "heading": -0.20221703379110081,
                    "angularVelocity": -2.4656420866077657,
                    "velocityX": -0.44409829641532994,
                    "velocityY": -0.5293044666250916,
                    "moduleForcesX": [
                        -27.737585656352955,
                        -111.32007789777124,
                        -31.488392696101744,
                        -134.14868605647044
                    ],
                    "moduleForcesY": [
                        -131.34457311102514,
                        -75.11183040468036,
                        -129.59467311723728,
                        4.957132340456965
                    ],
                    "timestamp": 0.1189607055709509
                },
                {
                    "x": 2.8242124999399634,
                    "y": 6.935045595321781,
                    "heading": -0.32964307557733147,
                    "angularVelocity": -3.2134823303539704,
                    "velocityX": -0.6195659510745848,
                    "velocityY": -0.700972124335309,
                    "moduleForcesX": [
                        -41.740294853721274,
                        -115.26397413699932,
                        -36.713678524326596,
                        -134.12249780143907
                    ],
                    "moduleForcesY": [
                        -127.55742544602212,
                        -68.84833764996092,
                        -128.50587068729783,
                        4.171030853089199
                    ],
                    "timestamp": 0.1586142740946012
                },
                {
                    "x": 2.7920119179239973,
                    "y": 6.90068714711996,
                    "heading": -0.48428004488467624,
                    "angularVelocity": -3.8996986920638856,
                    "velocityX": -0.8120475209511422,
                    "velocityY": -0.8664654779075979,
                    "moduleForcesX": [
                        -57.590866445158674,
                        -118.9002471931703,
                        -49.042005485343296,
                        -134.0958034038946
                    ],
                    "moduleForcesY": [
                        -121.1807645571986,
                        -62.25547739960706,
                        -124.44761909005621,
                        -1.3207888780382007
                    ],
                    "timestamp": 0.19826784261825148
                },
                {
                    "x": 2.7513325380442595,
                    "y": 6.859946704748344,
                    "heading": -0.6599932291574299,
                    "angularVelocity": -4.431207349420626,
                    "velocityX": -1.0258693326876407,
                    "velocityY": -1.0274092317057597,
                    "moduleForcesX": [
                        -75.94147366882501,
                        -121.13033410696521,
                        -69.7332298711322,
                        -132.695588916985
                    ],
                    "moduleForcesY": [
                        -110.51417362347912,
                        -57.5937486294293,
                        -114.18445121434884,
                        -18.411890338855564
                    ],
                    "timestamp": 0.23792141114190177
                },
                {
                    "x": 2.701321695712416,
                    "y": 6.812934079325295,
                    "heading": -0.8440293604800285,
                    "angularVelocity": -4.641098851237946,
                    "velocityX": -1.2611939906836294,
                    "velocityY": -1.1855837235828834,
                    "moduleForcesX": [
                        -99.41295052386045,
                        -118.7165766594527,
                        -99.11748242893879,
                        -122.4291279708967
                    ],
                    "moduleForcesY": [
                        -89.7205761027654,
                        -61.99272967443437,
                        -89.83531607518259,
                        -53.981605387537655
                    ],
                    "timestamp": 0.27757497966555206
                },
                {
                    "x": 2.6419603643829364,
                    "y": 6.760549669396307,
                    "heading": -1.0098878509691267,
                    "angularVelocity": -4.182687628483587,
                    "velocityX": -1.4969984679737705,
                    "velocityY": -1.3210515945779242,
                    "moduleForcesX": [
                        -132.13762220994946,
                        -83.79149497480584,
                        -127.85864901860859,
                        -96.78485666860762
                    ],
                    "moduleForcesY": [
                        -17.914357690624165,
                        -103.67853633718377,
                        -39.22715307160096,
                        -92.28555939732729
                    ],
                    "timestamp": 0.3172285481892024
                },
                {
                    "x": 2.573704998056789,
                    "y": 6.703025750782379,
                    "heading": -1.1508298127484167,
                    "angularVelocity": -3.5543323596520393,
                    "velocityX": -1.7212919005102374,
                    "velocityY": -1.4506618384119556,
                    "moduleForcesX": [
                        -132.43964341351918,
                        -62.01818859091456,
                        -130.36336433858744,
                        -94.24440835268962
                    ],
                    "moduleForcesY": [
                        -2.0929704930323245,
                        -117.35674029106707,
                        -28.249036824843888,
                        -94.46257915320388
                    ],
                    "timestamp": 0.3568821167128527
                },
                {
                    "x": 2.4966877870877853,
                    "y": 6.640211788740965,
                    "heading": -1.268323837660884,
                    "angularVelocity": -2.963012643928664,
                    "velocityX": -1.9422517023356816,
                    "velocityY": -1.5840683292684443,
                    "moduleForcesX": [
                        -129.33456235806554,
                        -58.73853617212127,
                        -129.4842068384251,
                        -95.27980679413146
                    ],
                    "moduleForcesY": [
                        -13.080995049110316,
                        -117.3946822845818,
                        -26.779914301031596,
                        -91.99857122186232
                    ],
                    "timestamp": 0.396535685236503
                },
                {
                    "x": 2.41974531978141,
                    "y": 6.580242969929327,
                    "heading": -1.38626528091105,
                    "angularVelocity": -2.9742958235857864,
                    "velocityX": -1.9403667859361808,
                    "velocityY": -1.512318337166729,
                    "moduleForcesX": [
                        0.45358520684905823,
                        0.21450533884608738,
                        1.5486809734621088,
                        1.3049706104489027
                    ],
                    "moduleForcesY": [
                        32.86318030913571,
                        33.98812903294945,
                        33.04076938401417,
                        34.16424867942638
                    ],
                    "timestamp": 0.43618925376015333
                },
                {
                    "x": 2.351469500598291,
                    "y": 6.52642669797948,
                    "heading": -1.5209577906568035,
                    "angularVelocity": -3.3967311079561435,
                    "velocityX": -1.7218076890757794,
                    "velocityY": -1.3571608799235821,
                    "moduleForcesX": [
                        117.45230309125206,
                        63.48950761158033,
                        127.91402804136584,
                        99.49584169415425
                    ],
                    "moduleForcesY": [
                        54.888758327153695,
                        115.37166086436068,
                        32.255978677196985,
                        87.37685895715101
                    ],
                    "timestamp": 0.47584282228380365
                },
                {
                    "x": 2.2918305261738876,
                    "y": 6.478792360663143,
                    "heading": -1.6735403150022752,
                    "angularVelocity": -3.8478888540502467,
                    "velocityX": -1.5040001857158172,
                    "velocityY": -1.2012623097979183,
                    "moduleForcesX": [
                        113.57941428346375,
                        58.580843908599824,
                        131.37956054369474,
                        103.40759862995337
                    ],
                    "moduleForcesY": [
                        66.13228601475454,
                        119.54741035264071,
                        21.254597749492298,
                        84.34364399343124
                    ],
                    "timestamp": 0.5154963908074539
                },
                {
                    "x": 2.240441866956222,
                    "y": 6.437614168387091,
                    "heading": -1.8456761161851054,
                    "angularVelocity": -4.340991431330184,
                    "velocityX": -1.295940343610944,
                    "velocityY": -1.0384485888520607,
                    "moduleForcesX": [
                        92.74148382685614,
                        55.31930634074131,
                        133.12967335094007,
                        107.54460802840508
                    ],
                    "moduleForcesY": [
                        93.81000367020339,
                        121.63752206399921,
                        9.176033361902622,
                        79.57451594044932
                    ],
                    "timestamp": 0.5551499593311042
                },
                {
                    "x": 2.1972685642642564,
                    "y": 6.403402243298721,
                    "heading": -2.0340302646042696,
                    "angularVelocity": -4.749992382320533,
                    "velocityX": -1.0887621038667865,
                    "velocityY": -0.8627703977678534,
                    "moduleForcesX": [
                        78.14801324706524,
                        68.48505728126152,
                        130.35782388908996,
                        110.09700796270492
                    ],
                    "moduleForcesY": [
                        107.7916909182955,
                        114.98613142471767,
                        29.236974946469466,
                        76.21901029907623
                    ],
                    "timestamp": 0.5948035278547545
                },
                {
                    "x": 2.162688315874522,
                    "y": 6.376515414489275,
                    "heading": -2.2165786414065667,
                    "angularVelocity": -4.603580045851903,
                    "velocityX": -0.8720589262681144,
                    "velocityY": -0.678043107113781,
                    "moduleForcesX": [
                        107.83163537421835,
                        113.98232574040424,
                        90.17614319385704,
                        92.89401170372028
                    ],
                    "moduleForcesY": [
                        79.52515589867791,
                        70.20183977587698,
                        99.07425159417527,
                        96.33972670590018
                    ],
                    "timestamp": 0.6344570963784049
                },
                {
                    "x": 2.1361078015791235,
                    "y": 6.356521969346502,
                    "heading": -2.379361778275312,
                    "angularVelocity": -4.105132096034629,
                    "velocityX": -0.6703183417113489,
                    "velocityY": -0.5042029226272579,
                    "moduleForcesX": [
                        118.20156263545093,
                        131.01683764263225,
                        77.03287726959672,
                        50.67701278557199
                    ],
                    "moduleForcesY": [
                        63.44564193519469,
                        27.630962092537093,
                        109.82566563791161,
                        123.89744117927575
                    ],
                    "timestamp": 0.6741106649020552
                },
                {
                    "x": 2.1168408691426532,
                    "y": 6.342633241162085,
                    "heading": -2.5110380705187842,
                    "angularVelocity": -3.3206668944545896,
                    "velocityX": -0.48588142639888254,
                    "velocityY": -0.3502516596046984,
                    "moduleForcesX": [
                        124.2465286637017,
                        133.7114241853187,
                        75.99516194894616,
                        10.645327383633056
                    ],
                    "moduleForcesY": [
                        50.781400487018104,
                        -7.354693438444475,
                        110.64413943538709,
                        133.5687798868565
                    ],
                    "timestamp": 0.7137642334257055
                },
                {
                    "x": 2.1044224651990544,
                    "y": 6.333995897415073,
                    "heading": -2.6039983722917346,
                    "angularVelocity": -2.3443111234114173,
                    "velocityX": -0.31317241817798086,
                    "velocityY": -0.21782008702523725,
                    "moduleForcesX": [
                        127.80307304914871,
                        128.72387120744193,
                        77.52650483241868,
                        -11.367206571760446
                    ],
                    "moduleForcesY": [
                        41.14555749062727,
                        -36.961365413074226,
                        109.62995683043415,
                        133.6184950897047
                    ],
                    "timestamp": 0.7534178019493558
                },
                {
                    "x": 2.098439931869507,
                    "y": 6.3299055099487305,
                    "heading": -2.652673910809596,
                    "angularVelocity": -1.2275197499269097,
                    "velocityX": -0.15086998603868917,
                    "velocityY": -0.10315307344668108,
                    "moduleForcesX": [
                        129.6777483510513,
                        118.89850086617777,
                        78.43504732625011,
                        -23.76850383719539
                    ],
                    "moduleForcesY": [
                        34.88986006714206,
                        -61.70856734583615,
                        109.01476595900024,
                        132.0456194666293
                    ],
                    "timestamp": 0.7930713704730061
                },
                {
                    "x": 2.098439931869507,
                    "y": 6.3299055099487305,
                    "heading": -2.652673910809596,
                    "angularVelocity": -8.962903335978405e-20,
                    "velocityX": -2.7842524917217345e-18,
                    "velocityY": 3.954741603191693e-18,
                    "moduleForcesX": [
                        130.34301470825542,
                        108.02540354975658,
                        77.36698757091244,
                        -33.852779062947995
                    ],
                    "moduleForcesY": [
                        32.39672091675638,
                        -79.33098378078306,
                        109.79729105432584,
                        129.86622211053793
                    ],
                    "timestamp": 0.8327249389966564
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 2.882530689239502,
                    "y": 7.0045881271362305,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 21
                },
                {
                    "timestamp": 0.8327249389966564,
                    "isStopPoint": true,
                    "x": 2.098439931869507,
                    "y": 6.3299055099487305,
                    "heading": -2.6526739108095962,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        },
        "Middle Note to Middle": {
            "waypoints": [
                {
                    "x": 2.9098827838897705,
                    "y": 5.564049243927002,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 23
                },
                {
                    "x": 1.979914665222168,
                    "y": 5.59140157699585,
                    "heading": 3.1325838572950224,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "trajectory": [
                {
                    "x": 2.9098827838897705,
                    "y": 5.564049243927002,
                    "heading": -1.1724906813694587e-21,
                    "angularVelocity": -1.1329844064231754e-22,
                    "velocityX": -3.458917862186314e-22,
                    "velocityY": 5.128920771266293e-22,
                    "moduleForcesX": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "moduleForcesY": [
                        0,
                        0,
                        0,
                        0
                    ],
                    "timestamp": 0
                },
                {
                    "x": 2.904798216107303,
                    "y": 5.5641588975624945,
                    "heading": 0.045684213080304445,
                    "angularVelocity": 1.2690793898067638,
                    "velocityX": -0.1412461711327233,
                    "velocityY": 0.0030461106679488736,
                    "moduleForcesX": [
                        -123.25623628041399,
                        -22.570188207291483,
                        -125.94256135710334,
                        -18.932373713726406
                    ],
                    "moduleForcesY": [
                        53.34776835601699,
                        132.25846584109792,
                        -46.63498020605617,
                        -132.70199723572753
                    ],
                    "timestamp": 0.03599791584926815
                },
                {
                    "x": 2.8942907968655205,
                    "y": 5.564148251293358,
                    "heading": 0.13488317603715125,
                    "angularVelocity": 2.4778924238376496,
                    "velocityX": -0.29188965510613185,
                    "velocityY": -0.00029574681991470167,
                    "moduleForcesX": [
                        -125.86139363296202,
                        -37.466886545816116,
                        -124.42021590344521,
                        -22.293646996858456
                    ],
                    "moduleForcesY": [
                        46.82441218522819,
                        128.81511912009057,
                        -50.49696748625844,
                        -132.02050257932555
                    ],
                    "timestamp": 0.0719958316985363
                },
                {
                    "x": 2.8777524828387486,
                    "y": 5.563733404306589,
                    "heading": 0.26315575422789406,
                    "angularVelocity": 3.5633334642997294,
                    "velocityX": -0.4594242093353858,
                    "velocityY": -0.01152419458130938,
                    "moduleForcesX": [
                        -128.8278589437078,
                        -55.36531929628857,
                        -122.37053753444799,
                        -38.242251685823746
                    ],
                    "moduleForcesY": [
                        37.82442521836487,
                        122.17485572993411,
                        -55.195462328071144,
                        -127.9132948190712
                    ],
                    "timestamp": 0.10799374754780444
                },
                {
                    "x": 2.853624530885938,
                    "y": 5.563358037021811,
                    "heading": 0.41769245771817953,
                    "angularVelocity": 4.292934739260115,
                    "velocityX": -0.6702596909732284,
                    "velocityY": -0.010427472700075668,
                    "moduleForcesX": [
                        -131.34499922399905,
                        -74.80891542736005,
                        -121.065370898731,
                        -106.70512219691719
                    ],
                    "moduleForcesY": [
                        27.674532140764494,
                        111.29810374663998,
                        -57.87088438889795,
                        -78.84456789221497
                    ],
                    "timestamp": 0.1439916633970726
                },
                {
                    "x": 2.821065502506742,
                    "y": 5.564495827840972,
                    "heading": 0.5896357766301472,
                    "angularVelocity": 4.776479828219368,
                    "velocityX": -0.9044698175174649,
                    "velocityY": 0.031607130366229134,
                    "moduleForcesX": [
                        -132.9101815085526,
                        -95.52740167315437,
                        -123.23245234711524,
                        -130.362161611653
                    ],
                    "moduleForcesY": [
                        18.28717680526447,
                        94.03270121984899,
                        -52.840535650414004,
                        27.032852340978835
                    ],
                    "timestamp": 0.17998957924634074
                },
                {
                    "x": 2.779581950783907,
                    "y": 5.567268157907534,
                    "heading": 0.7727161118038836,
                    "angularVelocity": 5.085859301975631,
                    "velocityX": -1.152387596452432,
                    "velocityY": 0.07701362707137491,
                    "moduleForcesX": [
                        -133.2257157066955,
                        -117.44172330629199,
                        -131.70479151686234,
                        -127.87193975216073
                    ],
                    "moduleForcesY": [
                        14.512854498162264,
                        64.35502602663837,
                        -24.10445803486392,
                        38.688528944362844
                    ],
                    "timestamp": 0.21598749509560888
                },
                {
                    "x": 2.729052540087537,
                    "y": 5.57196496688913,
                    "heading": 0.9489508414527436,
                    "angularVelocity": 4.89569258361503,
                    "velocityX": -1.4036760046872798,
                    "velocityY": 0.13047446972380664,
                    "moduleForcesX": [
                        -127.0739650372062,
                        -133.6314478803398,
                        -123.89627817360531,
                        -132.57963375006193
                    ],
                    "moduleForcesY": [
                        40.93878924407587,
                        0.9072519835183033,
                        50.298450296485974,
                        17.884258406446797
                    ],
                    "timestamp": 0.25198541094487703
                },
                {
                    "x": 2.6696516156759804,
                    "y": 5.578496672305467,
                    "heading": 1.1137193786412865,
                    "angularVelocity": 4.5771687971733686,
                    "velocityX": -1.6501212086911454,
                    "velocityY": 0.18144676607634194,
                    "moduleForcesX": [
                        -120.70644234332136,
                        -132.37587565437494,
                        -120.68190087817995,
                        -133.4492176801153
                    ],
                    "moduleForcesY": [
                        56.22455207410193,
                        -16.188079382867485,
                        57.31109566557563,
                        7.559458365910589
                    ],
                    "timestamp": 0.2879833267941452
                },
                {
                    "x": 2.6012321214534873,
                    "y": 5.586297473688362,
                    "heading": 1.2684897296079334,
                    "angularVelocity": 4.299425322696666,
                    "velocityX": -1.9006515407442521,
                    "velocityY": 0.216701472817422,
                    "moduleForcesX": [
                        -124.57781428554317,
                        -131.90623697535094,
                        -125.75054700294444,
                        -133.38651595422024
                    ],
                    "moduleForcesY": [
                        46.204227486800846,
                        -17.08916520861082,
                        44.342268000212925,
                        -0.8989656991660666
                    ],
                    "timestamp": 0.3239812426434133
                },
                {
                    "x": 2.523722106936906,
                    "y": 5.594111240212778,
                    "heading": 1.4138794329822877,
                    "angularVelocity": 4.038836692188949,
                    "velocityX": -2.1531806130425606,
                    "velocityY": 0.21706163648846777,
                    "moduleForcesX": [
                        -129.44242413297704,
                        -128.26594324651313,
                        -130.42656212478826,
                        -131.59982901312597
                    ],
                    "moduleForcesY": [
                        26.6941883464646,
                        -32.60502905040015,
                        25.069366922191808,
                        -18.417266699524134
                    ],
                    "timestamp": 0.3599791584926815
                },
                {
                    "x": 2.438094330395331,
                    "y": 5.598554908407441,
                    "heading": 1.5462332902250517,
                    "angularVelocity": 3.6767088905080225,
                    "velocityX": -2.3786870578874195,
                    "velocityY": 0.12344237408823153,
                    "moduleForcesX": [
                        -127.5152139910304,
                        -91.48887312181851,
                        -130.9765685672887,
                        -114.13833303222147
                    ],
                    "moduleForcesY": [
                        -21.69053482567496,
                        -93.58482452266946,
                        -11.337210162355976,
                        -66.06696751577847
                    ],
                    "timestamp": 0.3959770743419496
                },
                {
                    "x": 2.353344665802391,
                    "y": 5.595140089390554,
                    "heading": 1.6778753699315567,
                    "angularVelocity": 3.6569361475737043,
                    "velocityX": -2.3542936471046523,
                    "velocityY": -0.09486157563082145,
                    "moduleForcesX": [
                        14.451447080184629,
                        14.4557191793506,
                        10.584478481131423,
                        10.712885562365893
                    ],
                    "moduleForcesY": [
                        -111.72807633918266,
                        -112.49723353198057,
                        -112.15756761462072,
                        -112.91252267550493
                    ],
                    "timestamp": 0.43197499019121777
                },
                {
                    "x": 2.277547360396947,
                    "y": 5.591934417431166,
                    "heading": 1.8188974781710643,
                    "angularVelocity": 3.9175075809944353,
                    "velocityX": -2.1056026055181967,
                    "velocityY": -0.08905159878725663,
                    "moduleForcesX": [
                        126.61737659144639,
                        126.79868266337587,
                        130.57322521528187,
                        127.84635198958054
                    ],
                    "moduleForcesY": [
                        -30.670813608729173,
                        27.520103825796262,
                        -14.012252389603255,
                        29.120583068615865
                    ],
                    "timestamp": 0.4679729060404859
                },
                {
                    "x": 2.2107514458922948,
                    "y": 5.58962099284019,
                    "heading": 1.9701219971925235,
                    "angularVelocity": 4.200924288358031,
                    "velocityX": -1.8555494930412828,
                    "velocityY": -0.0642655147220941,
                    "moduleForcesX": [
                        129.7825029204834,
                        126.34423371456812,
                        132.81343270918072,
                        125.69877042977151
                    ],
                    "moduleForcesY": [
                        -25.78729268661706,
                        37.888701556159134,
                        -3.6750468789330997,
                        42.586336464093336
                    ],
                    "timestamp": 0.5039708218897541
                },
                {
                    "x": 2.1528975272982636,
                    "y": 5.588383488043041,
                    "heading": 2.1330389724518994,
                    "angularVelocity": 4.525733543618134,
                    "velocityX": -1.6071463369234924,
                    "velocityY": -0.03437712345156184,
                    "moduleForcesX": [
                        129.15690943218374,
                        126.32061952166437,
                        133.40159151620423,
                        122.36401357723348
                    ],
                    "moduleForcesY": [
                        -31.90358221613067,
                        39.99138333056886,
                        0.704124586919051,
                        52.721925666669314
                    ],
                    "timestamp": 0.5399687377390222
                },
                {
                    "x": 2.1038617900221226,
                    "y": 5.588245883101597,
                    "heading": 2.309593614891012,
                    "angularVelocity": 4.904579564505602,
                    "velocityX": -1.3621826741710712,
                    "velocityY": -0.003822580785513659,
                    "moduleForcesX": [
                        126.37999916449843,
                        127.57036753626912,
                        133.6067791493782,
                        116.60710322994447
                    ],
                    "moduleForcesY": [
                        -42.795738657616326,
                        36.17533234531511,
                        4.542297454620593,
                        64.96297874461857
                    ],
                    "timestamp": 0.5759666535882904
                },
                {
                    "x": 2.063537749340643,
                    "y": 5.588927566220457,
                    "heading": 2.5011632282758973,
                    "angularVelocity": 5.321686238365381,
                    "velocityX": -1.1201770916495724,
                    "velocityY": 0.018936738496616378,
                    "moduleForcesX": [
                        123.4481494000003,
                        131.97193457417976,
                        133.48252520005224,
                        109.17356022259129
                    ],
                    "moduleForcesY": [
                        -51.31520774983053,
                        11.266296407029227,
                        9.892212360619428,
                        76.99807531743873
                    ],
                    "timestamp": 0.6119645694375585
                },
                {
                    "x": 2.0325101312268448,
                    "y": 5.589893614123461,
                    "heading": 2.687967782232486,
                    "angularVelocity": 5.189315813137184,
                    "velocityX": -0.8619281806124167,
                    "velocityY": 0.026836217603513655,
                    "moduleForcesX": [
                        131.27173526395387,
                        133.63415800668736,
                        133.66585463764537,
                        132.93511660324046
                    ],
                    "moduleForcesY": [
                        25.731397570139144,
                        8.229861683347181,
                        -2.1402668033672123,
                        -15.562928264991879
                    ],
                    "timestamp": 0.6479624852868267
                },
                {
                    "x": 2.009940578249153,
                    "y": 5.590723817069946,
                    "heading": 2.855829204183222,
                    "angularVelocity": 4.663087236872595,
                    "velocityX": -0.6269683242828824,
                    "velocityY": 0.023062528118544,
                    "moduleForcesX": [
                        107.38752442957524,
                        132.40113354767368,
                        118.19473385991418,
                        125.59183805343709
                    ],
                    "moduleForcesY": [
                        79.9222212582598,
                        21.382912841924327,
                        -62.108055826716004,
                        -46.96377846105483
                    ],
                    "timestamp": 0.6839604011360948
                },
                {
                    "x": 1.9943302942111738,
                    "y": 5.591133993633265,
                    "heading": 2.9906770544596757,
                    "angularVelocity": 3.7459904857018382,
                    "velocityX": -0.4336441060461058,
                    "velocityY": 0.011394453085488258,
                    "moduleForcesX": [
                        76.29698818802065,
                        129.98925180673209,
                        68.0312958017118,
                        123.56661657615757
                    ],
                    "moduleForcesY": [
                        110.07764685936988,
                        33.37023145803826,
                        -115.12578362651813,
                        -52.336375915922666
                    ],
                    "timestamp": 0.719958316985363
                },
                {
                    "x": 1.98456003258257,
                    "y": 5.591311881348457,
                    "heading": 3.0843940703499584,
                    "angularVelocity": 2.6034011602976785,
                    "velocityX": -0.27141186921804394,
                    "velocityY": 0.004941611507109586,
                    "moduleForcesX": [
                        46.69373030336079,
                        127.38967914996421,
                        36.152652684879286,
                        123.65710772212738
                    ],
                    "moduleForcesY": [
                        125.5942380967026,
                        42.369472599388416,
                        -128.97939449883108,
                        -52.26502890477725
                    ],
                    "timestamp": 0.7559562328346311
                },
                {
                    "x": 1.979914665222168,
                    "y": 5.59140157699585,
                    "heading": 3.1325838572950224,
                    "angularVelocity": 1.3386826933771925,
                    "velocityX": -0.12904545307160287,
                    "velocityY": 0.002491690012498089,
                    "moduleForcesX": [
                        23.63069686682615,
                        125.50027576076168,
                        20.159686350955837,
                        123.71629758070887
                    ],
                    "moduleForcesY": [
                        131.95482707132774,
                        47.75928787415167,
                        -132.54716313924493,
                        -52.209180587261166
                    ],
                    "timestamp": 0.7919541486838992
                },
                {
                    "x": 1.979914665222168,
                    "y": 5.59140157699585,
                    "heading": 3.1325838572950224,
                    "angularVelocity": 1.3715964157314428e-22,
                    "velocityX": -7.449680947771362e-22,
                    "velocityY": -1.7456213938887994e-22,
                    "moduleForcesX": [
                        10.368887772690178,
                        124.92691064010063,
                        7.419976868095095,
                        122.87506057626464
                    ],
                    "moduleForcesY": [
                        133.71551866705315,
                        49.297307565052,
                        -133.92896617886862,
                        -54.21205339414475
                    ],
                    "timestamp": 0.8279520645331674
                }
            ],
            "trajectoryWaypoints": [
                {
                    "timestamp": 0,
                    "isStopPoint": true,
                    "x": 2.9098827838897705,
                    "y": 5.564049243927002,
                    "heading": 0,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 23
                },
                {
                    "timestamp": 0.8279520645331674,
                    "isStopPoint": true,
                    "x": 1.979914665222168,
                    "y": 5.59140157699585,
                    "heading": 3.1325838572950224,
                    "isInitialGuess": false,
                    "translationConstrained": true,
                    "headingConstrained": true,
                    "controlIntervalCount": 40
                }
            ],
            "constraints": [
                {
                    "scope": [
                        "first"
                    ],
                    "type": "StopPoint"
                },
                {
                    "scope": [
                        "last"
                    ],
                    "type": "StopPoint"
                }
            ],
            "usesControlIntervalGuessing": true,
            "defaultControlIntervalCount": 40,
            "usesDefaultFieldObstacles": true,
            "circleObstacles": [],
            "eventMarkers": [],
            "isTrajectoryStale": false
        }
    },
    "splitTrajectoriesAtStopPoints": true,
    "usesObstacles": false
}