BLine V1(RIP PathPlanner)

.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+  // Recommended extensions for working with Java tests in this workspace.
+  "recommendations": [
+    "vscjava.vscode-java-pack",          // Java Extension Pack (convenience bundle)
+    "vscjava.vscode-java-test",         // Java Test Runner (Test Explorer integration)
+    "redhat.java",                      // Language Support for Java(TM) by Red Hat
+    "vscjava.vscode-java-dependency",   // Java Project Dependency Viewer
+    "vscjava.vscode-java-debug"         // Java Debugger
+  ]
+}

.vscode/settings.json

@@ -20,7 +20,9 @@
       "workingDirectory": "${workspaceFolder}/build/jni/release",
       "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
       "env": {
-        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        // Ensure native libs are found on Windows as well as Unix-like systems
+        "PATH": "${workspaceFolder}\\build\\jni\\release;${env:PATH}",
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
         "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
       }
     },

src/main/deploy/autos/.bline-web/path-metadata.json

@@ -0,0 +1,107 @@
+{
+  "paths": {
+    "FirstNeutralBump.json": {
+      "editor_metadata": {
+        "ranged_constraints": [
+          {
+            "key": "max_velocity_meters_per_sec",
+            "value": 4.05,
+            "start_ordinal": 2,
+            "end_ordinal": 2,
+            "source": "auto_velocity",
+            "auto_velocity": {
+              "velocity_safety_factor": 0.9,
+              "acceleration_safety_factor": 0.8,
+              "merge_tolerance_meters_per_sec": 0.3,
+              "input_signature": "{\"pathElements\":[{\"type\":\"waypoint\",\"xMeters\":4.013,\"yMeters\":0.473,\"handoffRadiusMeters\":0.5,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"waypoint\",\"xMeters\":5.45101,\"yMeters\":0.58991,\"handoffRadiusMeters\":0.4,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"event_trigger\",\"tRatio\":0},{\"type\":\"waypoint\",\"xMeters\":6.573755148587652,\"yMeters\":0.8214867605289937,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-2.35619,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":7.62013,\"yMeters\":1.40061,\"handoffRadiusMeters\":0.3},{\"type\":\"waypoint\",\"xMeters\":7.779809454259738,\"yMeters\":2.76137685856349,\"handoffRadiusMeters\":0.6,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":6.958438065219933,\"yMeters\":2.6234522215077574,\"handoffRadiusMeters\":0.6},{\"type\":\"translation\",\"xMeters\":5.614032533314306,\"yMeters\":2.5002326599980744,\"handoffRadiusMeters\":0.35},{\"type\":\"waypoint\",\"xMeters\":3.38,\"yMeters\":2.28,\"handoffRadiusMeters\":0.25,\"rotationRadians\":-1.5708,\"profiledRotation\":true}],\"scalarConstraints\":{\"maxVelocityMps\":null,\"maxAccelerationMps2\":null,\"maxVelocityDegPerSec\":null,\"maxAccelerationDegPerSec\":null},\"rotationRangedConstraints\":[],\"config\":{\"maxVelocityMps\":4.5,\"maxAccelerationMps2\":6,\"handoffRadiusMeters\":0.2,\"maxVelocityDegPerSec\":720,\"maxAccelerationDegPerSec\":1500,\"autoVelocityVelocitySafetyFactor\":0.9,\"autoVelocityAccelerationSafetyFactor\":0.8},\"options\":{\"velocitySafetyFactor\":0.9,\"accelerationSafetyFactor\":0.8,\"sampleStepMeters\":null}}"
+            }
+          },
+          {
+            "key": "max_velocity_meters_per_sec",
+            "value": 1.37,
+            "start_ordinal": 6,
+            "end_ordinal": 6,
+            "source": "auto_velocity",
+            "auto_velocity": {
+              "velocity_safety_factor": 0.9,
+              "acceleration_safety_factor": 0.8,
+              "merge_tolerance_meters_per_sec": 0.3,
+              "input_signature": "{\"pathElements\":[{\"type\":\"waypoint\",\"xMeters\":4.013,\"yMeters\":0.473,\"handoffRadiusMeters\":0.5,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"waypoint\",\"xMeters\":5.45101,\"yMeters\":0.58991,\"handoffRadiusMeters\":0.4,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"event_trigger\",\"tRatio\":0},{\"type\":\"waypoint\",\"xMeters\":6.573755148587652,\"yMeters\":0.8214867605289937,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-2.35619,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":7.62013,\"yMeters\":1.40061,\"handoffRadiusMeters\":0.3},{\"type\":\"waypoint\",\"xMeters\":7.779809454259738,\"yMeters\":2.76137685856349,\"handoffRadiusMeters\":0.6,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":6.958438065219933,\"yMeters\":2.6234522215077574,\"handoffRadiusMeters\":0.6},{\"type\":\"translation\",\"xMeters\":5.614032533314306,\"yMeters\":2.5002326599980744,\"handoffRadiusMeters\":0.35},{\"type\":\"waypoint\",\"xMeters\":3.38,\"yMeters\":2.28,\"handoffRadiusMeters\":0.25,\"rotationRadians\":-1.5708,\"profiledRotation\":true}],\"scalarConstraints\":{\"maxVelocityMps\":null,\"maxAccelerationMps2\":null,\"maxVelocityDegPerSec\":null,\"maxAccelerationDegPerSec\":null},\"rotationRangedConstraints\":[],\"config\":{\"maxVelocityMps\":4.5,\"maxAccelerationMps2\":6,\"handoffRadiusMeters\":0.2,\"maxVelocityDegPerSec\":720,\"maxAccelerationDegPerSec\":1500,\"autoVelocityVelocitySafetyFactor\":0.9,\"autoVelocityAccelerationSafetyFactor\":0.8},\"options\":{\"velocitySafetyFactor\":0.9,\"accelerationSafetyFactor\":0.8,\"sampleStepMeters\":null}}"
+            }
+          },
+          {
+            "key": "max_velocity_meters_per_sec",
+            "value": 4.05,
+            "start_ordinal": 8,
+            "end_ordinal": 8,
+            "source": "auto_velocity",
+            "auto_velocity": {
+              "velocity_safety_factor": 0.9,
+              "acceleration_safety_factor": 0.8,
+              "merge_tolerance_meters_per_sec": 0.3,
+              "input_signature": "{\"pathElements\":[{\"type\":\"waypoint\",\"xMeters\":4.013,\"yMeters\":0.473,\"handoffRadiusMeters\":0.5,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"waypoint\",\"xMeters\":5.45101,\"yMeters\":0.58991,\"handoffRadiusMeters\":0.4,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"event_trigger\",\"tRatio\":0},{\"type\":\"waypoint\",\"xMeters\":6.573755148587652,\"yMeters\":0.8214867605289937,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-2.35619,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":7.62013,\"yMeters\":1.40061,\"handoffRadiusMeters\":0.3},{\"type\":\"waypoint\",\"xMeters\":7.779809454259738,\"yMeters\":2.76137685856349,\"handoffRadiusMeters\":0.6,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":6.958438065219933,\"yMeters\":2.6234522215077574,\"handoffRadiusMeters\":0.6},{\"type\":\"translation\",\"xMeters\":5.614032533314306,\"yMeters\":2.5002326599980744,\"handoffRadiusMeters\":0.35},{\"type\":\"waypoint\",\"xMeters\":3.38,\"yMeters\":2.28,\"handoffRadiusMeters\":0.25,\"rotationRadians\":-1.5708,\"profiledRotation\":true}],\"scalarConstraints\":{\"maxVelocityMps\":null,\"maxAccelerationMps2\":null,\"maxVelocityDegPerSec\":null,\"maxAccelerationDegPerSec\":null},\"rotationRangedConstraints\":[],\"config\":{\"maxVelocityMps\":4.5,\"maxAccelerationMps2\":6,\"handoffRadiusMeters\":0.2,\"maxVelocityDegPerSec\":720,\"maxAccelerationDegPerSec\":1500,\"autoVelocityVelocitySafetyFactor\":0.9,\"autoVelocityAccelerationSafetyFactor\":0.8},\"options\":{\"velocitySafetyFactor\":0.9,\"accelerationSafetyFactor\":0.8,\"sampleStepMeters\":null}}"
+            }
+          }
+        ]
+      }
+    },
+    "SecondNeutralBump.json": {
+      "editor_metadata": {
+        "ranged_constraints": [
+          {
+            "key": "max_velocity_meters_per_sec",
+            "value": 2.25,
+            "start_ordinal": 1,
+            "end_ordinal": 1,
+            "source": "auto_velocity",
+            "auto_velocity": {
+              "velocity_safety_factor": 0.9,
+              "acceleration_safety_factor": 0.8,
+              "merge_tolerance_meters_per_sec": 0.3,
+              "input_signature": "{\"pathElements\":[{\"type\":\"waypoint\",\"xMeters\":4.01,\"yMeters\":0.473,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"event_trigger\",\"tRatio\":1},{\"type\":\"waypoint\",\"xMeters\":5.691302974503924,\"yMeters\":0.6304414045306999,\"handoffRadiusMeters\":0.5,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":5.75212,\"yMeters\":2.00744,\"handoffRadiusMeters\":0.39},{\"type\":\"waypoint\",\"xMeters\":5.9775,\"yMeters\":3.17868,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.74533,\"profiledRotation\":true},{\"type\":\"rotation\",\"rotationRadians\":2.35619,\"tRatio\":1,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":7.4589,\"yMeters\":3.70465,\"handoffRadiusMeters\":0.36},{\"type\":\"waypoint\",\"xMeters\":7.64024,\"yMeters\":2.52584,\"handoffRadiusMeters\":0.4,\"rotationRadians\":1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":6.46606,\"yMeters\":2.52905,\"handoffRadiusMeters\":0.7},{\"type\":\"translation\",\"xMeters\":5.4365,\"yMeters\":2.61687,\"handoffRadiusMeters\":0.4},{\"type\":\"waypoint\",\"xMeters\":3.37991,\"yMeters\":2.48256,\"handoffRadiusMeters\":0.2,\"rotationRadians\":1.5708,\"profiledRotation\":true}],\"scalarConstraints\":{\"maxVelocityMps\":null,\"maxAccelerationMps2\":null,\"maxVelocityDegPerSec\":null,\"maxAccelerationDegPerSec\":null},\"rotationRangedConstraints\":[],\"config\":{\"maxVelocityMps\":4.5,\"maxAccelerationMps2\":6,\"handoffRadiusMeters\":0.2,\"maxVelocityDegPerSec\":720,\"maxAccelerationDegPerSec\":1500,\"autoVelocityVelocitySafetyFactor\":1,\"autoVelocityAccelerationSafetyFactor\":1},\"options\":{\"velocitySafetyFactor\":0.9,\"accelerationSafetyFactor\":0.8,\"sampleStepMeters\":null}}"
+            }
+          },
+          {
+            "key": "max_velocity_meters_per_sec",
+            "value": 1.41,
+            "start_ordinal": 6,
+            "end_ordinal": 6,
+            "source": "auto_velocity",
+            "auto_velocity": {
+              "velocity_safety_factor": 0.9,
+              "acceleration_safety_factor": 0.8,
+              "merge_tolerance_meters_per_sec": 0.3,
+              "input_signature": "{\"pathElements\":[{\"type\":\"waypoint\",\"xMeters\":4.01,\"yMeters\":0.473,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"event_trigger\",\"tRatio\":1},{\"type\":\"waypoint\",\"xMeters\":5.691302974503924,\"yMeters\":0.6304414045306999,\"handoffRadiusMeters\":0.5,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":5.75212,\"yMeters\":2.00744,\"handoffRadiusMeters\":0.39},{\"type\":\"waypoint\",\"xMeters\":5.9775,\"yMeters\":3.17868,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.74533,\"profiledRotation\":true},{\"type\":\"rotation\",\"rotationRadians\":2.35619,\"tRatio\":1,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":7.4589,\"yMeters\":3.70465,\"handoffRadiusMeters\":0.36},{\"type\":\"waypoint\",\"xMeters\":7.64024,\"yMeters\":2.52584,\"handoffRadiusMeters\":0.4,\"rotationRadians\":1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":6.46606,\"yMeters\":2.52905,\"handoffRadiusMeters\":0.7},{\"type\":\"translation\",\"xMeters\":5.4365,\"yMeters\":2.61687,\"handoffRadiusMeters\":0.4},{\"type\":\"waypoint\",\"xMeters\":3.37991,\"yMeters\":2.48256,\"handoffRadiusMeters\":0.2,\"rotationRadians\":1.5708,\"profiledRotation\":true}],\"scalarConstraints\":{\"maxVelocityMps\":null,\"maxAccelerationMps2\":null,\"maxVelocityDegPerSec\":null,\"maxAccelerationDegPerSec\":null},\"rotationRangedConstraints\":[],\"config\":{\"maxVelocityMps\":4.5,\"maxAccelerationMps2\":6,\"handoffRadiusMeters\":0.2,\"maxVelocityDegPerSec\":720,\"maxAccelerationDegPerSec\":1500,\"autoVelocityVelocitySafetyFactor\":1,\"autoVelocityAccelerationSafetyFactor\":1},\"options\":{\"velocitySafetyFactor\":0.9,\"accelerationSafetyFactor\":0.8,\"sampleStepMeters\":null}}"
+            }
+          },
+          {
+            "key": "max_velocity_meters_per_sec",
+            "value": 3.34,
+            "start_ordinal": 8,
+            "end_ordinal": 8,
+            "source": "auto_velocity",
+            "auto_velocity": {
+              "velocity_safety_factor": 0.9,
+              "acceleration_safety_factor": 0.8,
+              "merge_tolerance_meters_per_sec": 0.3,
+              "input_signature": "{\"pathElements\":[{\"type\":\"waypoint\",\"xMeters\":4.01,\"yMeters\":0.473,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"event_trigger\",\"tRatio\":1},{\"type\":\"waypoint\",\"xMeters\":5.691302974503924,\"yMeters\":0.6304414045306999,\"handoffRadiusMeters\":0.5,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":5.75212,\"yMeters\":2.00744,\"handoffRadiusMeters\":0.39},{\"type\":\"waypoint\",\"xMeters\":5.9775,\"yMeters\":3.17868,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.74533,\"profiledRotation\":true},{\"type\":\"rotation\",\"rotationRadians\":2.35619,\"tRatio\":1,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":7.4589,\"yMeters\":3.70465,\"handoffRadiusMeters\":0.36},{\"type\":\"waypoint\",\"xMeters\":7.64024,\"yMeters\":2.52584,\"handoffRadiusMeters\":0.4,\"rotationRadians\":1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":6.46606,\"yMeters\":2.52905,\"handoffRadiusMeters\":0.7},{\"type\":\"translation\",\"xMeters\":5.4365,\"yMeters\":2.61687,\"handoffRadiusMeters\":0.4},{\"type\":\"waypoint\",\"xMeters\":3.37991,\"yMeters\":2.48256,\"handoffRadiusMeters\":0.2,\"rotationRadians\":1.5708,\"profiledRotation\":true}],\"scalarConstraints\":{\"maxVelocityMps\":null,\"maxAccelerationMps2\":null,\"maxVelocityDegPerSec\":null,\"maxAccelerationDegPerSec\":null},\"rotationRangedConstraints\":[],\"config\":{\"maxVelocityMps\":4.5,\"maxAccelerationMps2\":6,\"handoffRadiusMeters\":0.2,\"maxVelocityDegPerSec\":720,\"maxAccelerationDegPerSec\":1500,\"autoVelocityVelocitySafetyFactor\":1,\"autoVelocityAccelerationSafetyFactor\":1},\"options\":{\"velocitySafetyFactor\":0.9,\"accelerationSafetyFactor\":0.8,\"sampleStepMeters\":null}}"
+            }
+          },
+          {
+            "key": "max_velocity_meters_per_sec",
+            "value": 4.05,
+            "start_ordinal": 9,
+            "end_ordinal": 9,
+            "source": "auto_velocity",
+            "auto_velocity": {
+              "velocity_safety_factor": 0.9,
+              "acceleration_safety_factor": 0.8,
+              "merge_tolerance_meters_per_sec": 0.3,
+              "input_signature": "{\"pathElements\":[{\"type\":\"waypoint\",\"xMeters\":4.01,\"yMeters\":0.473,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"event_trigger\",\"tRatio\":1},{\"type\":\"waypoint\",\"xMeters\":5.691302974503924,\"yMeters\":0.6304414045306999,\"handoffRadiusMeters\":0.5,\"rotationRadians\":-1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":5.75212,\"yMeters\":2.00744,\"handoffRadiusMeters\":0.39},{\"type\":\"waypoint\",\"xMeters\":5.9775,\"yMeters\":3.17868,\"handoffRadiusMeters\":0.3,\"rotationRadians\":-1.74533,\"profiledRotation\":true},{\"type\":\"rotation\",\"rotationRadians\":2.35619,\"tRatio\":1,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":7.4589,\"yMeters\":3.70465,\"handoffRadiusMeters\":0.36},{\"type\":\"waypoint\",\"xMeters\":7.64024,\"yMeters\":2.52584,\"handoffRadiusMeters\":0.4,\"rotationRadians\":1.5708,\"profiledRotation\":true},{\"type\":\"translation\",\"xMeters\":6.46606,\"yMeters\":2.52905,\"handoffRadiusMeters\":0.7},{\"type\":\"translation\",\"xMeters\":5.4365,\"yMeters\":2.61687,\"handoffRadiusMeters\":0.4},{\"type\":\"waypoint\",\"xMeters\":3.37991,\"yMeters\":2.48256,\"handoffRadiusMeters\":0.2,\"rotationRadians\":1.5708,\"profiledRotation\":true}],\"scalarConstraints\":{\"maxVelocityMps\":null,\"maxAccelerationMps2\":null,\"maxVelocityDegPerSec\":null,\"maxAccelerationDegPerSec\":null},\"rotationRangedConstraints\":[],\"config\":{\"maxVelocityMps\":4.5,\"maxAccelerationMps2\":6,\"handoffRadiusMeters\":0.2,\"maxVelocityDegPerSec\":720,\"maxAccelerationDegPerSec\":1500,\"autoVelocityVelocitySafetyFactor\":1,\"autoVelocityAccelerationSafetyFactor\":1},\"options\":{\"velocitySafetyFactor\":0.9,\"accelerationSafetyFactor\":0.8,\"sampleStepMeters\":null}}"
+            }
+          }
+        ]
+      }
+    }
+  }
+}

src/main/deploy/autos/config.json

@@ -0,0 +1,30 @@
+{
+  "gui": {
+    "robot": {
+      "length_meters": 0.78,
+      "width_meters": 0.93
+    },
+    "protrusions": {
+      "enabled": true,
+      "distance_meters": 0.21,
+      "side": "back",
+      "default_state": "shown",
+      "show_on_event_keys": [
+        "intake"
+      ],
+      "hide_on_event_keys": []
+    }
+  },
+  "kinematic_constraints": {
+    "default_max_velocity_meters_per_sec": 4.5,
+    "default_max_acceleration_meters_per_sec2": 6.0,
+    "default_intermediate_handoff_radius_meters": 0.2,
+    "default_max_velocity_deg_per_sec": 720.0,
+    "default_max_acceleration_deg_per_sec2": 1500.0,
+    "default_end_translation_tolerance_meters": 0.03,
+    "default_end_rotation_tolerance_deg": 2.0,
+    "default_auto_velocity_velocity_safety_factor": 1.0,
+    "default_auto_velocity_acceleration_safety_factor": 1.0,
+    "default_auto_velocity_merge_tolerance_meters_per_sec": 0.3
+  }
+}

src/main/deploy/autos/pathgroups.json

@@ -0,0 +1,22 @@
+{
+  "schema_version": 1,
+  "groups": [
+    {
+      "group_id": "group-be48ead2-6d4e-4a08-9787-7ec4fcb2553e",
+      "display_name": "Trench Paths",
+      "path_file_names": [
+        "FirstNeutralTrench.json",
+        "FirstNeutralTrenchFAST.json",
+        "SecondNeutralTrench.json"
+      ]
+    },
+    {
+      "group_id": "group-24f6ec6b-f994-4a13-86c1-eaa4d5454b32",
+      "display_name": "Bump Paths",
+      "path_file_names": [
+        "FirstNeutralBump.json",
+        "SecondNeutralBump.json"
+      ]
+    }
+  ]
+}

src/main/deploy/autos/paths/BumpDepot.json

@@ -0,0 +1,82 @@
+{
+  "path_elements": [
+    {
+      "type": "waypoint",
+      "translation_target": {
+        "x_meters": 3.38,
+        "y_meters": 2.45,
+        "intermediate_handoff_radius_meters": 0.2
+      },
+      "rotation_target": {
+        "rotation_radians": 1.5708,
+        "profiled_rotation": true
+      }
+    },
+    {
+      "type": "event_trigger",
+      "t_ratio": 0.09,
+      "lib_key": "launch"
+    },
+    {
+      "type": "event_trigger",
+      "t_ratio": 0.93,
+      "lib_key": "cancel"
+    },
+    {
+      "type": "waypoint",
+      "translation_target": {
+        "x_meters": 1.87864,
+        "y_meters": 1.92629,
+        "intermediate_handoff_radius_meters": 0.2
+      },
+      "rotation_target": {
+        "rotation_radians": 0.0,
+        "profiled_rotation": true
+      }
+    },
+    {
+      "type": "waypoint",
+      "translation_target": {
+        "x_meters": 0.72384,
+        "y_meters": 2.06724,
+        "intermediate_handoff_radius_meters": 0.2
+      },
+      "rotation_target": {
+        "rotation_radians": 0.0,
+        "profiled_rotation": true
+      }
+    },
+    {
+      "type": "waypoint",
+      "translation_target": {
+        "x_meters": 1.59181,
+        "y_meters": 2.09673,
+        "intermediate_handoff_radius_meters": 0.2
+      },
+      "rotation_target": {
+        "rotation_radians": 0.0,
+        "profiled_rotation": true
+      }
+    }
+  ],
+  "constraints": {
+    "end_translation_tolerance_meters": 0.12,
+    "max_velocity_meters_per_sec": [
+      {
+        "value": 1.8,
+        "start_ordinal": 0,
+        "end_ordinal": 0
+      },
+      {
+        "value": 2.0,
+        "start_ordinal": 1,
+        "end_ordinal": 1
+      },
+      {
+        "value": 1.8,
+        "start_ordinal": 2,
+        "end_ordinal": 3
+      }
+    ]
+  }
+}