Generate Velocity and Acceleration From Known TimeStamps

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I am currently trying to use toolpaths that were generated offline, rather than through moveit's path planner. These toolpaths already have timing information attached to them, and therefore the existing libraries such as iterative parabolic time parameterization, or the alternatives also built into moveit don't quite work for my application. I'm curious if there's already some library for generating parabolic blends, or some other technique to compute velocity and acceleration at each point, given that timestamps are already known?