Skip to content

Commit c94f483

Browse files
ohowe1ohowe1
committed
More autos and cleanup
1 parent 7fd697a commit c94f483

11 files changed

+2602
-882
lines changed

‎Choreo.chor

Lines changed: 992 additions & 321 deletions
Large diffs are not rendered by default.

‎src/main/deploy/choreo/AmpSpeakerCloseAmpNote.1.traj

Lines changed: 373 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,373 @@
1+
{
2+
"samples": [
3+
{
4+
"x": 0.6375793814659136,
5+
"y": 6.678916454315184,
6+
"heading": 1.0470999999999997,
7+
"angularVelocity": -1.0992846633848948e-17,
8+
"velocityX": -1.0747275580189362e-16,
9+
"velocityY": -5.632381664133509e-16,
10+
"timestamp": 0
11+
},
12+
{
13+
"x": 0.6431711283028084,
14+
"y": 6.70563605019649,
15+
"heading": 1.0562318304947715,
16+
"angularVelocity": 0.14070719735803353,
17+
"velocityX": 0.08616005588790963,
18+
"velocityY": 0.41170710011930334,
19+
"timestamp": 0.06489952651147081
20+
},
21+
{
22+
"x": 0.6643700932202773,
23+
"y": 6.751350288529057,
24+
"heading": 1.061151184921387,
25+
"angularVelocity": 0.07579954253041242,
26+
"velocityX": 0.32664282838463327,
27+
"velocityY": 0.704384773644679,
28+
"timestamp": 0.12979905302294162
29+
},
30+
{
31+
"x": 0.7081838250160193,
32+
"y": 6.802474021911623,
33+
"heading": 1.0470000000000002,
34+
"angularVelocity": -0.21804758317777867,
35+
"velocityX": 0.6751009461487867,
36+
"velocityY": 0.7877366150241584,
37+
"timestamp": 0.19469857953441244
38+
},
39+
{
40+
"x": 0.762353650255824,
41+
"y": 6.841811688342494,
42+
"heading": 1.0150667459012348,
43+
"angularVelocity": -0.5831127792867158,
44+
"velocityX": 0.9891606178007016,
45+
"velocityY": 0.7183200288804193,
46+
"timestamp": 0.24946200644134278
47+
},
48+
{
49+
"x": 0.8329386501262263,
50+
"y": 6.877337254455413,
51+
"heading": 0.964288082789794,
52+
"angularVelocity": -0.92723676966164,
53+
"velocityX": 1.2889076486442856,
54+
"velocityY": 0.6487096971274424,
55+
"timestamp": 0.3042254333482731
56+
},
57+
{
58+
"x": 0.9190737772739058,
59+
"y": 6.90901777891342,
60+
"heading": 0.8959769824465601,
61+
"angularVelocity": -1.2473854200488854,
62+
"velocityX": 1.5728586016832709,
63+
"velocityY": 0.5784978446426329,
64+
"timestamp": 0.35898886025520343
65+
},
66+
{
67+
"x": 1.019784249141237,
68+
"y": 6.936782615730106,
69+
"heading": 0.8116444774445454,
70+
"angularVelocity": -1.5399420686923808,
71+
"velocityX": 1.8390096723659621,
72+
"velocityY": 0.5069959708808881,
73+
"timestamp": 0.41375228716213375
74+
},
75+
{
76+
"x": 1.1339376335493303,
77+
"y": 6.960490922945936,
78+
"heading": 0.7130721679439553,
79+
"angularVelocity": -1.7999660535146917,
80+
"velocityX": 2.084482121544165,
81+
"velocityY": 0.4329222719677038,
82+
"timestamp": 0.46851571406906406
83+
},
84+
{
85+
"x": 1.2601487689759463,
86+
"y": 6.979855896095533,
87+
"heading": 0.6024977578944892,
88+
"angularVelocity": -2.0191287542322067,
89+
"velocityX": 2.304661019931323,
90+
"velocityY": 0.3536114197210555,
91+
"timestamp": 0.5232791409759944
92+
},
93+
{
94+
"x": 1.3965255261676874,
95+
"y": 6.994230194777802,
96+
"heading": 0.48316389257580594,
97+
"angularVelocity": -2.1790795784416876,
98+
"velocityX": 2.4902889532690025,
99+
"velocityY": 0.26247989747942185,
100+
"timestamp": 0.5780425678829247
101+
},
102+
{
103+
"x": 1.539395348139785,
104+
"y": 7.0018471224636665,
105+
"heading": 0.36177076218887866,
106+
"angularVelocity": -2.216682504652153,
107+
"velocityX": 2.6088546669145334,
108+
"velocityY": 0.13908785726870337,
109+
"timestamp": 0.6328059947898551
110+
},
111+
{
112+
"x": 1.6782077066474383,
113+
"y": 7.003807024516068,
114+
"heading": 0.25123102822986776,
115+
"angularVelocity": -2.018495557450031,
116+
"velocityX": 2.534763915883852,
117+
"velocityY": 0.03578852104482262,
118+
"timestamp": 0.6875694216967855
119+
},
120+
{
121+
"x": 1.8082393318245114,
122+
"y": 7.0034972263957265,
123+
"heading": 0.1571668857010822,
124+
"angularVelocity": -1.7176452938702935,
125+
"velocityX": 2.3744245468586285,
126+
"velocityY": -0.005657025827798553,
127+
"timestamp": 0.7423328486037158
128+
},
129+
{
130+
"x": 1.9274752845034275,
131+
"y": 7.002202929624127,
132+
"heading": 0.08062228271376388,
133+
"angularVelocity": -1.397732159954174,
134+
"velocityX": 2.177291659231539,
135+
"velocityY": -0.023634327615502795,
136+
"timestamp": 0.7970962755106462
137+
},
138+
{
139+
"x": 2.0345041285201533,
140+
"y": 7.000635460704677,
141+
"heading": 0.022484095661952568,
142+
"angularVelocity": -1.061624342105316,
143+
"velocityX": 1.9543854363312196,
144+
"velocityY": -0.028622549934358397,
145+
"timestamp": 0.8518597024175766
146+
},
147+
{
148+
"x": 2.124700288836826,
149+
"y": 7,
150+
"heading": -9.851585542097385e-17,
151+
"angularVelocity": -0.41056772589018176,
152+
"velocityX": 1.6470145385974169,
153+
"velocityY": -0.011603742507259518,
154+
"timestamp": 0.906623129324507
155+
},
156+
{
157+
"x": 2.2000000000000006,
158+
"y": 7,
159+
"heading": -4.3921341210870095e-17,
160+
"angularVelocity": 2.0319618675597028e-17,
161+
"velocityX": 1.3749999847735288,
162+
"velocityY": 2.7520652409415344e-17,
163+
"timestamp": 0.9613865562314373
164+
},
165+
{
166+
"x": 2.3360171657657367,
167+
"y": 6.999999993243261,
168+
"heading": -4.132223183019592e-17,
169+
"angularVelocity": -8.507715726495129e-17,
170+
"velocityX": 1.374999978118282,
171+
"velocityY": -6.830400013326245e-8,
172+
"timestamp": 1.0603081329080268
173+
},
174+
{
175+
"x": 2.4720343315314732,
176+
"y": 6.999999996175389,
177+
"heading": -3.8723092742480714e-17,
178+
"angularVelocity": -8.507719660399169e-17,
179+
"velocityX": 1.3749999781182833,
180+
"velocityY": 2.9640938729757765e-8,
181+
"timestamp": 1.1592297095846165
182+
},
183+
{
184+
"x": 2.608051497727319,
185+
"y": 6.999999997844035,
186+
"heading": -3.612395351947512e-17,
187+
"angularVelocity": -8.507719618706012e-17,
188+
"velocityX": 1.3749999824662662,
189+
"velocityY": 1.686838080187866e-8,
190+
"timestamp": 1.258151286261206
191+
},
192+
{
193+
"x": 2.696875572204591,
194+
"y": 7,
195+
"heading": -3.352491714327898e-17,
196+
"angularVelocity": -8.507823511192217e-17,
197+
"velocityX": 0.8979241683968698,
198+
"velocityY": 2.1794684897082797e-8,
199+
"timestamp": 1.3570728629377957
200+
},
201+
{
202+
"x": 2.6968755722045907,
203+
"y": 7,
204+
"heading": -2.7632600858099854e-17,
205+
"angularVelocity": -5.1786485833853184e-17,
206+
"velocityX": 5.761741967111341e-16,
207+
"velocityY": -4.020253697285412e-17,
208+
"timestamp": 1.4559944396143853
209+
},
210+
{
211+
"x": 2.6668081518858195,
212+
"y": 7.001815931093195,
213+
"heading": 0.017507515869856327,
214+
"angularVelocity": 0.2672386129022755,
215+
"velocityX": -0.4589557855382313,
216+
"velocityY": 0.027718775757480635,
217+
"timestamp": 1.5215071126101956
218+
},
219+
{
220+
"x": 2.6080439903108954,
221+
"y": 7.0051404649828255,
222+
"heading": 0.05154665559153095,
223+
"angularVelocity": 0.5195809931584012,
224+
"velocityX": -0.896989221252827,
225+
"velocityY": 0.050746424096283035,
226+
"timestamp": 1.5870197856060058
227+
},
228+
{
229+
"x": 2.522045986364172,
230+
"y": 7.009617391463775,
231+
"heading": 0.10108955432624689,
232+
"angularVelocity": 0.7562338160844866,
233+
"velocityX": -1.3126926432924586,
234+
"velocityY": 0.06833680070482293,
235+
"timestamp": 1.652532458601816
236+
},
237+
{
238+
"x": 2.4103993924054268,
239+
"y": 7.014820462634771,
240+
"heading": 0.16503403659587054,
241+
"angularVelocity": 0.9760627875693987,
242+
"velocityX": -1.704198421019531,
243+
"velocityY": 0.07942083462550356,
244+
"timestamp": 1.7180451315976262
245+
},
246+
{
247+
"x": 2.2748585273876936,
248+
"y": 7.020216275789392,
249+
"heading": 0.24216500872651064,
250+
"angularVelocity": 1.1773442991816156,
251+
"velocityX": -2.068925884385255,
252+
"velocityY": 0.08236289110110485,
253+
"timestamp": 1.7835578045934364
254+
},
255+
{
256+
"x": 2.1174262644762787,
257+
"y": 7.025091662501572,
258+
"heading": 0.33108431645564446,
259+
"angularVelocity": 1.3572840734175726,
260+
"velocityX": -2.403081046660432,
261+
"velocityY": 0.07441898624085619,
262+
"timestamp": 1.8490704775892466
263+
},
264+
{
265+
"x": 1.9405122834162845,
266+
"y": 7.028386206968381,
267+
"heading": 0.43006223231953883,
268+
"angularVelocity": 1.51082090325302,
269+
"velocityX": -2.7004543218118324,
270+
"velocityY": 0.05028865892327179,
271+
"timestamp": 1.9145831505850568
272+
},
273+
{
274+
"x": 1.7473649311464499,
275+
"y": 7.028186516595626,
276+
"heading": 0.5366190798897172,
277+
"angularVelocity": 1.6265074010418592,
278+
"velocityX": -2.9482441074351162,
279+
"velocityY": -0.0030481181244383197,
280+
"timestamp": 1.980095823580867
281+
},
282+
{
283+
"x": 1.5447066681146135,
284+
"y": 7.01951863435414,
285+
"heading": 0.6454059441304396,
286+
"angularVelocity": 1.6605468711484597,
287+
"velocityX": -3.0934207630478783,
288+
"velocityY": -0.13230848046859972,
289+
"timestamp": 2.045608496576677
290+
},
291+
{
292+
"x": 1.3506189623077527,
293+
"y": 7.001299430827175,
294+
"heading": 0.7456659788925988,
295+
"angularVelocity": 1.530391451097747,
296+
"velocityX": -2.962597873163107,
297+
"velocityY": -0.2781019712635939,
298+
"timestamp": 2.1111211695724874
299+
},
300+
{
301+
"x": 1.1795434488710075,
302+
"y": 6.973079532725907,
303+
"heading": 0.8334283843837317,
304+
"angularVelocity": 1.3396248605118821,
305+
"velocityX": -2.611334654612625,
306+
"velocityY": -0.430754795911948,
307+
"timestamp": 2.1766338425682976
308+
},
309+
{
310+
"x": 1.0278852916173127,
311+
"y": 6.938633014899936,
312+
"heading": 0.9087001720353897,
313+
"angularVelocity": 1.1489652940757447,
314+
"velocityX": -2.3149438147853076,
315+
"velocityY": -0.5257993031578747,
316+
"timestamp": 2.242146515564108
317+
},
318+
{
319+
"x": 0.8975910135139911,
320+
"y": 6.898564374036955,
321+
"heading": 0.9700798608178949,
322+
"angularVelocity": 0.9369132097583283,
323+
"velocityX": -1.988840815846993,
324+
"velocityY": -0.611616638603196,
325+
"timestamp": 2.307659188559918
326+
},
327+
{
328+
"x": 0.7904836752150665,
329+
"y": 6.853134667557743,
330+
"heading": 1.016490989967733,
331+
"angularVelocity": 0.7084297891336833,
332+
"velocityX": -1.634910213964098,
333+
"velocityY": -0.6934491355548557,
334+
"timestamp": 2.3731718615557282
335+
},
336+
{
337+
"x": 0.70818382501602,
338+
"y": 6.802474021911622,
339+
"heading": 1.047,
340+
"angularVelocity": 0.465696309073281,
341+
"velocityX": -1.2562432027754613,
342+
"velocityY": -0.7732953534620399,
343+
"timestamp": 2.4386845345515384
344+
},
345+
{
346+
"x": 0.6529476200064659,
347+
"y": 6.730401352256165,
348+
"heading": 1.0542086423824761,
349+
"angularVelocity": 0.08868940733420196,
350+
"velocityX": -0.6795823715723049,
351+
"velocityY": -0.8867248530243207,
352+
"timestamp": 2.5199641664315067
353+
},
354+
{
355+
"x": 0.6375793814659144,
356+
"y": 6.678916454315183,
357+
"heading": 1.0470999999999997,
358+
"angularVelocity": -0.08745908680174425,
359+
"velocityX": -0.18907859425576523,
360+
"velocityY": -0.6334292705263816,
361+
"timestamp": 2.601243798311475
362+
},
363+
{
364+
"x": 0.6375793814659132,
365+
"y": 6.678916454315185,
366+
"heading": 1.0471,
367+
"angularVelocity": 9.041805255815857e-18,
368+
"velocityX": -8.565814343185842e-17,
369+
"velocityY": 3.980928602131679e-16,
370+
"timestamp": 2.682523430191443
371+
}
372+
]
373+
}

0 commit comments

Comments
 (0)