{
  "description": "SLERP pose interpolation over a timestamped trajectory. For each query time, interpolate rotation (SLERP, shortest path) and translation (linear) between bracketing samples. See SPEC.md.",
  "trajectory": [
    {
      "t": 0.0,
      "q": [
        0.3125467154483973,
        -0.9367581537430685,
        0.1460100823420678,
        -0.058989557658613634
      ],
      "p": [
        30.832448,
        -40.008665,
        -7.031302
      ]
    },
    {
      "t": 1.0,
      "q": [
        0.8152229211753994,
        0.5213990942848625,
        0.2246048127759728,
        0.1144869046967547
      ],
      "p": [
        -20.702388,
        29.795164,
        -38.446128
      ]
    },
    {
      "t": 2.0,
      "q": [
        0.31451371230557434,
        0.016048201666333497,
        0.5310580544672863,
        0.786639004105736
      ],
      "p": [
        -14.812188,
        42.859365,
        -22.96952
      ]
    },
    {
      "t": 3.0,
      "q": [
        0.9215013340584147,
        -0.17943618545244353,
        0.2973612563764342,
        -0.17382240904171992
      ],
      "p": [
        -35.328591,
        -6.395989,
        19.326176
      ]
    },
    {
      "t": 4.0,
      "q": [
        0.5489292674713175,
        -0.8058386021581171,
        -0.11570652994745065,
        0.1895067426578127
      ],
      "p": [
        19.002433,
        23.231554,
        -40.588573
      ]
    }
  ],
  "queries": [
    0.0,
    0.5,
    1.0,
    2.7,
    3.9
  ]
}