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⇆
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𝑢ₛ (speed):
1.0
𝑢𝜙 (steering):
0.00
𝜃₀ (initial heading):
0.40
𝐿 (wheelbase):
1.0
Reset
heading 𝜃
velocity (ẋ, ẏ), always along ±𝜃
steering direction (𝑢𝜙)
trajectory trail