When Optimizing a straight path, it modifieds angles in a weird way

[fisherjacobc]

Describe the bug
I have a straight path, and I was seeing what would happen if I try to "optimize it" since there's not much that could be done. I then noticed it modified angles and caused the wheels to do a little jiggle. I asked some people and they said that shouldn't happen.

To Reproduce
Make a straight path and optimize it.
Expected behavior
Nothing should be changed really since it's a straight path.

Screenshots (before optimizing)



Screenshot (after optimizing)


Videos
https://fisher.likes-to.party/v/VoxFso.mp4
https://micro.sylo.digital/v/siD2fB.mp4

Versions: (please complete the following information):

• OS: Windows 11 24H2
• GUI Version: 2025.2.1
• PPLib Version: 2025.2.1
• PPLib Language: Java

Additional context
Unoptimized vs Optimized paths are attached below as json files (.path isn't supported)

Unoptimized.json
Optimized.json

[mjansen4857]

This isn't really a bug, it's just how the optimizer works. It introduces a bit of randomness to try and find a minimum runtime. It can get pretty close, but can't find the exact minimum. When taking a straight line, which is already optimal, running the optimizer will just add a little bit of randomness to it since it can't find that exact optimal straight line unless you get exceptionally lucky.