{"seq": 0, "t_s": 0.016, "x_m": 0.020045820623636246, "y_m": -3.9163024428862217e-20, "z_m": 0.22771215438842773, "vx_m_s": 6.156639124783181e-19, "vy_m_s": 2.0957489358674137e-18, "vz_m_s": -0.15696001052856445, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-5.629751667151126e-21, -1.9253121511247556e-20, -5.629751667151126e-21, -1.9253121511247556e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00012311827577177192, "forward_m_s": 0.013679966299297281, "normal_height_m": 0.22859274927824005, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 1, "t_s": 0.032, "x_m": 0.020045820623636246, "y_m": -1.7190189609089992e-19, "z_m": 0.22378815710544586, "vx_m_s": 9.772906292766741e-19, "vy_m_s": 3.3420561745367726e-18, "vz_m_s": -0.3139200210571289, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-1.1943790111623878e-20, -4.11204730314608e-20, -1.1943790111623878e-20, -4.11204730314608e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0004651171735098464, "forward_m_s": 0.027359932598594563, "normal_height_m": 0.2246836839896071, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 2, "t_s": 0.048, "x_m": 0.020045820623636246, "y_m": -4.3088670458378593e-19, "z_m": 0.21735279262065887, "vx_m_s": 1.364033961592167e-18, "vy_m_s": 4.8498873172127344e-18, "vz_m_s": -0.47088003158569336, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-1.8267694138929745e-20, -6.300522927186746e-20, -1.8267694138929745e-20, -6.300522927186746e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.001025996145033358, "forward_m_s": 0.04103989889789184, "normal_height_m": 0.21827280800957438, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 3, "t_s": 0.064, "x_m": 0.020045820623636246, "y_m": -8.128459344290017e-19, "z_m": 0.20840607583522797, "vx_m_s": 1.6781095804924528e-18, "vy_m_s": 6.6404537563429964e-18, "vz_m_s": -0.6278400421142578, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-2.4559192719503994e-20, -8.485761560845946e-20, -2.4559192719503994e-20, -8.485761560845946e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.001805753891620531, "forward_m_s": 0.054719865197189126, "normal_height_m": 0.2093601361825997, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 4, "t_s": 0.08, "x_m": 0.020045820623636246, "y_m": -1.3090747375256484e-18, "z_m": 0.19694799184799194, "vx_m_s": 2.0172513568925096e-18, "vy_m_s": 8.169500427369718e-18, "vz_m_s": -0.7848000526428223, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-3.084704491991705e-20, -1.0670635071812885e-19, -3.084704491991705e-20, -1.0670635071812885e-19], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0028043917119931344, "forward_m_s": 0.0683998314964864, "normal_height_m": 0.19794565366422523, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 5, "t_s": 0.096, "x_m": 0.020045820623636246, "y_m": -1.9097784682404855e-18, "z_m": 0.182978555560112, "vx_m_s": 2.306210567070812e-18, "vy_m_s": 9.69854709839644e-18, "vz_m_s": -0.9417600631713867, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-3.712462844850708e-20, -1.285448106936267e-19, -3.712462844850708e-20, -1.285448106936267e-19], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.004021908307429399, "forward_m_s": 0.08207979779578368, "normal_height_m": 0.1840293752989088, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 6, "t_s": 0.112, "x_m": 0.020045820623636246, "y_m": -2.6171274934044874e-18, "z_m": 0.16649775207042694, "vx_m_s": 2.578142057544557e-18, "vy_m_s": 1.1750309050830121e-17, "vz_m_s": -1.0987200736999512, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-4.3403856644799414e-20, -1.5038492503034964e-19, -4.3403856644799414e-20, -1.5038492503034964e-19], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.005458304976651097, "forward_m_s": 0.09575976409508097, "normal_height_m": 0.16761128624219263, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 7, "t_s": 0.128, "x_m": 0.020045820623636246, "y_m": -3.453992529774133e-18, "z_m": 0.14750559628009796, "vx_m_s": 2.8751908873184747e-18, "vy_m_s": 1.4063592425728568e-17, "vz_m_s": -1.2556800842285156, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-4.967666449782166e-20, -1.7221861579262823e-19, -4.967666449782166e-20, -1.7221861579262823e-19], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007113580420936457, "forward_m_s": 0.10943973039437825, "normal_height_m": 0.14869140133853445, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 8, "t_s": 0.14400000000000002, "x_m": 0.020065071061253548, "y_m": -3.210918197993351e-09, "z_m": 0.12664932012557983, "vx_m_s": 0.00979465153068304, "vy_m_s": -6.6732668528857175e-06, "vz_m_s": -1.0890367031097412, "tilt_rad": 0.08726867049938464, "wheel_position_rad": [4.90751517645549e-05, 4.88031109853182e-05, 5.195070480112918e-05, 5.18927481607534e-05], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.008950501844024057, "forward_m_s": 0.10467318266351304, "normal_height_m": 0.12791616739765493, "ground_tilt_rad": 2.2095965181665126e-06}
{"seq": 9, "t_s": 0.16, "x_m": 0.020372381433844566, "y_m": -1.0724568255682243e-06, "z_m": 0.12147115170955658, "vx_m_s": 0.020525313913822174, "vy_m_s": -0.00011349914711900055, "vz_m_s": 0.01788834109902382, "tilt_rad": 0.08727686750464368, "wheel_position_rad": [0.0005580323049798608, 0.0005438498337753117, 0.0006395636009983718, 0.0006272601312957704], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0097079499222388, "forward_m_s": 0.018888137242609505, "normal_height_m": 0.12278448733956365, "ground_tilt_rad": 1.047523016224776e-05}
{"seq": 10, "t_s": 0.176, "x_m": 0.020690277218818665, "y_m": -2.2903141143615358e-06, "z_m": 0.12371813505887985, "vx_m_s": 0.01896001771092415, "vy_m_s": -7.838646706659347e-05, "vz_m_s": 0.17894436419010162, "tilt_rad": 0.08726866732669582, "wheel_position_rad": [0.0007203291170299053, 0.0006902496097609401, 0.0008672567782923579, 0.0008393502212129533], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009828798515023818, "forward_m_s": 0.0032918401478524793, "normal_height_m": 0.12505062668211572, "ground_tilt_rad": 2.5569281075963366e-06}
{"seq": 11, "t_s": 0.192, "x_m": 0.020978756248950958, "y_m": -3.5961759294877993e-06, "z_m": 0.12636300921440125, "vx_m_s": 0.017428560182452202, "vy_m_s": -7.82146817073226e-05, "vz_m_s": 0.1458463966846466, "tilt_rad": 0.08726319891202494, "wheel_position_rad": [0.0007810138631612062, 0.0007386774523183703, 0.0009651837754063308, 0.0009245079709216952], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009885663823853707, "forward_m_s": 0.004650888219011825, "normal_height_m": 0.12771057889710433, "ground_tilt_rad": 3.3546482180432853e-06}
{"seq": 12, "t_s": 0.20800000000000002, "x_m": 0.021245455369353294, "y_m": -4.876943421550095e-06, "z_m": 0.1282193660736084, "vx_m_s": 0.0161267276853323, "vy_m_s": -7.853738497942686e-05, "vz_m_s": 0.0940140038728714, "tilt_rad": 0.08726592862260354, "wheel_position_rad": [0.0008280477486550808, 0.0007759957225061953, 0.0010419192258268595, 0.000990907079540193], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009989555912715338, "forward_m_s": 0.007871500281476086, "normal_height_m": 0.12958311611794154, "ground_tilt_rad": 7.348554137908358e-07}
{"seq": 13, "t_s": 0.224, "x_m": 0.021489780396223068, "y_m": -6.125171694293385e-06, "z_m": 0.12935934960842133, "vx_m_s": 0.014653374440968037, "vy_m_s": -7.872121932450682e-05, "vz_m_s": 0.05586445331573486, "tilt_rad": 0.08726592455008264, "wheel_position_rad": [0.0008813251624815166, 0.000818341679405421, 0.0011270582908764482, 0.0010644251015037298], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010133595097397407, "forward_m_s": 0.009728706005320708, "normal_height_m": 0.1307400560004227, "ground_tilt_rad": 7.745737682799906e-07}
{"seq": 14, "t_s": 0.24, "x_m": 0.021708892658352852, "y_m": -7.360902145592263e-06, "z_m": 0.1300220936536789, "vx_m_s": 0.013003071770071983, "vy_m_s": -7.87669196142815e-05, "vz_m_s": 0.0319393053650856, "tilt_rad": 0.08726591971714175, "wheel_position_rad": [0.000941897218581289, 0.0008665445493534207, 0.001222656574100256, 0.0011468739248812199], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010294111621701978, "forward_m_s": 0.01016989727431386, "normal_height_m": 0.13141937499645126, "ground_tilt_rad": 9.127493400045685e-07}
{"seq": 15, "t_s": 0.256, "x_m": 0.021900497376918793, "y_m": -8.597260602982715e-06, "z_m": 0.13039447367191315, "vx_m_s": 0.01123372558504343, "vy_m_s": -7.873129652580246e-05, "vz_m_s": 0.017614224925637245, "tilt_rad": 0.08726864705026544, "wheel_position_rad": [0.001007722457870841, 0.0009190364507958293, 0.0013254244113340974, 0.0012353905476629734], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010452532169393134, "forward_m_s": 0.009655797011319628, "normal_height_m": 0.13180703744785208, "ground_tilt_rad": 2.3642654005811915e-06}
{"seq": 16, "t_s": 0.272, "x_m": 0.02206309139728546, "y_m": -9.836330718826503e-06, "z_m": 0.13059638440608978, "vx_m_s": 0.009388186037540436, "vy_m_s": -7.873123831814155e-05, "vz_m_s": 0.009444394148886204, "tilt_rad": 0.08726864071770173, "wheel_position_rad": [0.0010773558169603348, 0.0009748201118782163, 0.0014323167270049453, 0.001327233505435288], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010596909790417943, "forward_m_s": 0.008529327968448921, "normal_height_m": 0.13202235085333802, "ground_tilt_rad": 2.4171594257299607e-06}
{"seq": 17, "t_s": 0.28800000000000003, "x_m": 0.022195715457201004, "y_m": -1.1075053407694213e-05, "z_m": 0.13070420920848846, "vx_m_s": 0.007496193516999483, "vy_m_s": -7.872621790738776e-05, "vz_m_s": 0.005021486431360245, "tilt_rad": 0.08726863363351532, "wheel_position_rad": [0.0011492033954709768, 0.001032520434819162, 0.001541907899081707, 0.0014212568057700992], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010719631625005529, "forward_m_s": 0.007030016857882111, "normal_height_m": 0.13214132429825853, "ground_tilt_rad": 2.478300993994562e-06}
{"seq": 18, "t_s": 0.304, "x_m": 0.02229783684015274, "y_m": -1.2315933417994529e-05, "z_m": 0.130761057138443, "vx_m_s": 0.005579210817813873, "vy_m_s": -7.870241825003177e-05, "vz_m_s": 0.002614796394482255, "tilt_rad": 0.08726862579972756, "wheel_position_rad": [0.0012221798533573747, 0.0010911795543506742, 0.0016530476277694106, 0.0015165535733103752], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010816409781704991, "forward_m_s": 0.005330085714347292, "normal_height_m": 0.13220685636965832, "ground_tilt_rad": 2.534599477174736e-06}
{"seq": 19, "t_s": 0.32, "x_m": 0.02236916311085224, "y_m": -1.3560093066189438e-05, "z_m": 0.1307900846004486, "vx_m_s": 0.0036486999597400427, "vy_m_s": -7.867650128901005e-05, "vz_m_s": 0.0013008175883442163, "tilt_rad": 0.08726861721728726, "wheel_position_rad": [0.0012957509607076645, 0.0011503353016451001, 0.0017650389345362782, 0.0016125598922371864], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010884934724399314, "forward_m_s": 0.0035214418317292386, "normal_height_m": 0.1322419898675076, "ground_tilt_rad": 2.5772117233797727e-06}
{"seq": 20, "t_s": 0.336, "x_m": 0.02241145633161068, "y_m": -1.4876938621455338e-05, "z_m": 0.1308041214942932, "vx_m_s": 0.0020946210715919733, "vy_m_s": -7.328350329771638e-05, "vz_m_s": 0.0006164346123114228, "tilt_rad": 0.08726860837191582, "wheel_position_rad": [0.0013683566357940435, 0.0012099086306989193, 0.0018741934327408671, 0.0017071933252736926], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010925843610775195, "forward_m_s": 0.0020329245895398074, "normal_height_m": 0.13225965944380166, "ground_tilt_rad": 2.559054812437108e-06}
{"seq": 21, "t_s": 0.352, "x_m": 0.022439418360590935, "y_m": -1.555593371449504e-05, "z_m": 0.13081076741218567, "vx_m_s": 0.001609940780326724, "vy_m_s": -2.883201523218304e-05, "vz_m_s": 0.0002834079205058515, "tilt_rad": 0.08726860231770159, "wheel_position_rad": [0.001436031423509121, 0.0012702557723969221, 0.001971000572666526, 0.0017957915551960468], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01095312000588306, "forward_m_s": 0.0015791138417909133, "normal_height_m": 0.1322687171233746, "ground_tilt_rad": 2.7270753478330376e-06}
{"seq": 22, "t_s": 0.368, "x_m": 0.022463945671916008, "y_m": -1.5885521861491725e-05, "z_m": 0.13081355392932892, "vx_m_s": 0.0015129786916077137, "vy_m_s": -1.8229266061098315e-05, "vz_m_s": 0.0001000139964162372, "tilt_rad": 0.08726859789428598, "wheel_position_rad": [0.0015016900142654777, 0.001330990344285965, 0.0020622373558580875, 0.001881750300526619], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010977311122412242, "forward_m_s": 0.0014985045567625717, "normal_height_m": 0.13227363073301499, "ground_tilt_rad": 2.7712153842568875e-06}
{"seq": 23, "t_s": 0.384, "x_m": 0.022487754002213478, "y_m": -1.618490568944253e-05, "z_m": 0.13081417977809906, "vx_m_s": 0.001495043863542378, "vy_m_s": -1.725707079458516e-05, "vz_m_s": 2.710856961130048e-08, "tilt_rad": 0.08726859362729873, "wheel_position_rad": [0.0015669867862015963, 0.0013917790492996573, 0.0021522752940654755, 0.0019671281334012747], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01100097430851059, "forward_m_s": 0.0014893524076079966, "normal_height_m": 0.13227632923295224, "ground_tilt_rad": 2.6434340765365805e-06}
{"seq": 24, "t_s": 0.4, "x_m": 0.022511400282382965, "y_m": -1.6485028027091175e-05, "z_m": 0.13081364333629608, "vx_m_s": 0.0014896998181939125, "vy_m_s": -1.8016184185398743e-05, "vz_m_s": -5.466562288347632e-05, "tilt_rad": 0.08726585635335044, "wheel_position_rad": [0.0016322494484484196, 0.0014525990700349212, 0.002242115093395114, 0.002052434952929616], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011024577361428802, "forward_m_s": 0.0014887954835981858, "normal_height_m": 0.13227785574158368, "ground_tilt_rad": 1.5190416499824386e-06}
{"seq": 25, "t_s": 0.41600000000000004, "x_m": 0.022534985095262527, "y_m": -1.6791933376225643e-05, "z_m": 0.13081248104572296, "vx_m_s": 0.0014869904844090343, "vy_m_s": -1.880546369648073e-05, "vz_m_s": -8.578362758271396e-05, "tilt_rad": 0.08726585187581799, "wheel_position_rad": [0.001697513391263783, 0.0015134291024878621, 0.0023319264873862267, 0.0021377389784902334], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011048173727273097, "forward_m_s": 0.0014888085724587162, "normal_height_m": 0.1322787534257612, "ground_tilt_rad": 1.4167862324721463e-06}
{"seq": 26, "t_s": 0.432, "x_m": 0.022558631375432014, "y_m": -1.709287789708469e-05, "z_m": 0.13081094622612, "vx_m_s": 0.0015151654370129108, "vy_m_s": -1.621968658582773e-05, "vz_m_s": -0.00010586423013592139, "tilt_rad": 0.08726584731277578, "wheel_position_rad": [0.001763014355674386, 0.0015730864834040403, 0.0024219315964728594, 0.0022233689669519663], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011071863794550014, "forward_m_s": 0.0015186264506920298, "normal_height_m": 0.13227928535572156, "ground_tilt_rad": 1.3738191809197683e-06}
{"seq": 27, "t_s": 0.448, "x_m": 0.0225833710283041, "y_m": -1.7256894352613017e-05, "z_m": 0.13080908358097076, "vx_m_s": 0.001600307528860867, "vy_m_s": -6.3334960032079834e-06, "vz_m_s": -0.0001223620492964983, "tilt_rad": 0.08726584356139559, "wheel_position_rad": [0.0018302926328033209, 0.001623688149265945, 0.002513951389119029, 0.00231290515512228], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01109667164579527, "forward_m_s": 0.0016048824308580606, "normal_height_m": 0.13227958600132086, "ground_tilt_rad": 1.245740640671743e-06}
{"seq": 28, "t_s": 0.464, "x_m": 0.022609757259488106, "y_m": -1.735788828227669e-05, "z_m": 0.13080693781375885, "vx_m_s": 0.0016799933509901166, "vy_m_s": -2.9551549687312217e-06, "vz_m_s": -0.00013898474571760744, "tilt_rad": 0.08726584123099297, "wheel_position_rad": [0.0018880305578932166, 0.0016751692164689302, 0.0026103397831320763, 0.002406456507742405], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011123144485338519, "forward_m_s": 0.0016857137878293516, "normal_height_m": 0.13227974811097817, "ground_tilt_rad": 1.0190694859696571e-06}
{"seq": 29, "t_s": 0.48, "x_m": 0.02263738214969635, "y_m": -1.7499141904409043e-05, "z_m": 0.1308046132326126, "vx_m_s": 0.0018061273731291294, "vy_m_s": -1.3237594430393074e-05, "vz_m_s": -0.0001528475695522502, "tilt_rad": 0.08726583844309319, "wheel_position_rad": [0.0019433798734098673, 0.001728021539747715, 0.0027111410163342953, 0.002496222034096718], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011150866855095715, "forward_m_s": 0.0018125760566411113, "normal_height_m": 0.1322798400433894, "ground_tilt_rad": 8.506723032112428e-07}
{"seq": 30, "t_s": 0.496, "x_m": 0.022666823118925095, "y_m": -1.770072958606761e-05, "z_m": 0.13080210983753204, "vx_m_s": 0.001877748523838818, "vy_m_s": -1.330622581008356e-05, "vz_m_s": -0.00016138699720613658, "tilt_rad": 0.08726583269361572, "wheel_position_rad": [0.0019979283679276705, 0.0017824453534558415, 0.0028192687314003706, 0.0025784275494515896], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011180413977805712, "forward_m_s": 0.0018846689274091472, "normal_height_m": 0.13227991212402326, "ground_tilt_rad": 9.78156532780943e-07}
{"seq": 31, "t_s": 0.512, "x_m": 0.022696737200021744, "y_m": -1.786194661690388e-05, "z_m": 0.1307995468378067, "vx_m_s": 0.0018907273188233376, "vy_m_s": -1.0816994290507864e-05, "vz_m_s": -0.00016356616106349975, "tilt_rad": 0.08726582609016593, "wheel_position_rad": [0.002052266849204898, 0.0018374272622168064, 0.00292953010648489, 0.002659677527844906], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011210437606937204, "forward_m_s": 0.0018977882608049027, "normal_height_m": 0.1322799660612423, "ground_tilt_rad": 1.1698123354423665e-06}
{"seq": 32, "t_s": 0.528, "x_m": 0.022727983072400093, "y_m": -1.7962602214538492e-05, "z_m": 0.130796879529953, "vx_m_s": 0.0022328412160277367, "vy_m_s": 7.20064235792961e-06, "vz_m_s": -0.00018512255337554961, "tilt_rad": 0.08726581928626428, "wheel_position_rad": [0.002100334269925952, 0.0018940854351967573, 0.0030396769288927317, 0.0027405070140957832], "contacts": 3, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011241797050534895, "forward_m_s": 0.002240479074726346, "normal_height_m": 0.13228003216051518, "ground_tilt_rad": 9.86969949798975e-07}
{"seq": 33, "t_s": 0.544, "x_m": 0.022767314687371254, "y_m": -1.7955584553419612e-05, "z_m": 0.13079360127449036, "vx_m_s": 0.0025848313234746456, "vy_m_s": 3.1900899557513185e-06, "vz_m_s": -0.00021285883849486709, "tilt_rad": 0.08726581152116898, "wheel_position_rad": [0.002156161470338702, 0.001933073392137885, 0.0031396811828017235, 0.002838538959622383], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011281264715626313, "forward_m_s": 0.0025935471300763354, "normal_height_m": 0.1322801943559206, "ground_tilt_rad": 7.474384429445711e-07}
{"seq": 34, "t_s": 0.56, "x_m": 0.022828130051493645, "y_m": -7.442771675414406e-06, "z_m": 0.1307840645313263, "vx_m_s": 0.0038283467292785645, "vy_m_s": 0.0004037708567921072, "vz_m_s": -0.0009204461239278316, "tilt_rad": 0.08716189471026427, "wheel_position_rad": [0.0021784226410090923, 0.002013855380937457, 0.003267503110691905, 0.002885104389861226], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011342679840861417, "forward_m_s": 0.0038940008797543144, "normal_height_m": 0.132275994311174, "ground_tilt_rad": 0.00014300913255583088}
{"seq": 35, "t_s": 0.5760000000000001, "x_m": 0.022892918437719345, "y_m": 3.3014666769304313e-06, "z_m": 0.13077613711357117, "vx_m_s": 0.0040019117295742035, "vy_m_s": 0.0006913639372214675, "vz_m_s": -0.0001526627311250195, "tilt_rad": 0.08718651055393946, "wheel_position_rad": [0.0021777998190373182, 0.0021331701427698135, 0.0034180881921201944, 0.002906251698732376], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011407912607699897, "forward_m_s": 0.003999988680954076, "normal_height_m": 0.13227374373955972, "ground_tilt_rad": 0.00010877179655673921}
{"seq": 36, "t_s": 0.592, "x_m": 0.022946931421756744, "y_m": 8.445093044429086e-06, "z_m": 0.13077318668365479, "vx_m_s": 0.0034281981643289328, "vy_m_s": 0.00044979568338021636, "vz_m_s": -5.351940490072593e-05, "tilt_rad": 0.08722205293167318, "wheel_position_rad": [0.0021778233349323273, 0.0022531291469931602, 0.003577832831069827, 0.0029411613941192627], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011461977202936855, "forward_m_s": 0.003419817358797873, "normal_height_m": 0.13227551207866176, "ground_tilt_rad": 6.128901943880598e-05}
{"seq": 37, "t_s": 0.608, "x_m": 0.02299545519053936, "y_m": 1.1573086339922156e-05, "z_m": 0.130770742893219, "vx_m_s": 0.00310790678486228, "vy_m_s": 0.0002858152147382498, "vz_m_s": -9.377823153045028e-05, "tilt_rad": 0.08724664938574853, "wheel_position_rad": [0.0021778831724077463, 0.002370852045714855, 0.003733123652637005, 0.002976890653371811], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011510529314500077, "forward_m_s": 0.003104253572665765, "normal_height_m": 0.13227730671269552, "ground_tilt_rad": 2.8088835095763604e-05}
{"seq": 38, "t_s": 0.624, "x_m": 0.02304140292108059, "y_m": 1.3486423085851129e-05, "z_m": 0.13076797127723694, "vx_m_s": 0.0029307352378964424, "vy_m_s": 0.0001717581762932241, "vz_m_s": -0.0001445539528504014, "tilt_rad": 0.08726030821918321, "wheel_position_rad": [0.0021779288072139025, 0.002487165853381157, 0.0038858973421156406, 0.003013100940734148], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011556543762304127, "forward_m_s": 0.0029321816126308734, "normal_height_m": 0.13227855025213195, "ground_tilt_rad": 8.628016820082573e-06}
{"seq": 39, "t_s": 0.64, "x_m": 0.023081954568624496, "y_m": 1.4136163372313604e-05, "z_m": 0.13076522946357727, "vx_m_s": 0.00219084438867867, "vy_m_s": 1.17928739200579e-05, "vz_m_s": -0.00013855419820174575, "tilt_rad": 0.08726849859647189, "wheel_position_rad": [0.002198062604293227, 0.0025894567370414734, 0.004028024151921272, 0.003064054297283292], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011597180063392235, "forward_m_s": 0.0021945833584008216, "normal_height_m": 0.13227935318086234, "ground_tilt_rad": 2.1092908165742583e-06}
{"seq": 40, "t_s": 0.656, "x_m": 0.023115215823054314, "y_m": 1.516292650194373e-05, "z_m": 0.13072659075260162, "vx_m_s": 0.004879442974925041, "vy_m_s": -5.3863910579821095e-05, "vz_m_s": -0.008451972156763077, "tilt_rad": 0.08738045710322874, "wheel_position_rad": [0.0022195398341864347, 0.0026646037586033344, 0.004147302359342575, 0.0030915893148630857], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011633682334260995, "forward_m_s": 0.005597513132266552, "normal_height_m": 0.13224376041118185, "ground_tilt_rad": 0.00011748055079418132}
{"seq": 41, "t_s": 0.672, "x_m": 0.023158147931098938, "y_m": 1.6368270735256374e-05, "z_m": 0.13068582117557526, "vx_m_s": 0.002920097205787897, "vy_m_s": 0.00017409559222869575, "vz_m_s": -5.327678081812337e-06, "tilt_rad": 0.08753042110936082, "wheel_position_rad": [0.0023243653122335672, 0.002691027242690325, 0.004241399932652712, 0.0032049056608229876], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011680004375440194, "forward_m_s": 0.0029094496920587646, "normal_height_m": 0.13220688775446912, "ground_tilt_rad": 0.00026511482414341795}
{"seq": 42, "t_s": 0.6880000000000001, "x_m": 0.023193754255771637, "y_m": 1.7906508219311945e-05, "z_m": 0.13070011138916016, "vx_m_s": 0.0010879921028390527, "vy_m_s": 0.00013743157614953816, "vz_m_s": 0.0012840874260291457, "tilt_rad": 0.08747045181057078, "wheel_position_rad": [0.002433331683278084, 0.002717511495575309, 0.004322584252804518, 0.0033351953607052565], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011714229733118654, "forward_m_s": 0.0009719363710454547, "normal_height_m": 0.13222422688515034, "ground_tilt_rad": 0.00020451551503068566}
{"seq": 43, "t_s": 0.704, "x_m": 0.023214491084218025, "y_m": 1.881330354081001e-05, "z_m": 0.13071802258491516, "vx_m_s": 0.0007390062673948705, "vy_m_s": 7.580444071209058e-05, "vz_m_s": 0.0010407621739432216, "tilt_rad": 0.08739952966239335, "wheel_position_rad": [0.002515308326110244, 0.002761912066489458, 0.004409159533679485, 0.0034346270840615034], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011733326588102659, "forward_m_s": 0.0006454857251416519, "normal_height_m": 0.13224387725708345, "ground_tilt_rad": 0.00013334937681987083}
{"seq": 44, "t_s": 0.72, "x_m": 0.023233557119965553, "y_m": 1.9284521840745583e-05, "z_m": 0.13073031604290009, "vx_m_s": 0.0009155708830803633, "vy_m_s": 3.624898454290815e-05, "vz_m_s": 0.0006515095010399818, "tilt_rad": 0.08734766481442359, "wheel_position_rad": [0.0025886695366352797, 0.0028100251220166683, 0.004494429565966129, 0.003524915548041463], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011751248626366362, "forward_m_s": 0.0008553040649815396, "normal_height_m": 0.13225778564925608, "ground_tilt_rad": 8.13642782095747e-05}
{"seq": 45, "t_s": 0.736, "x_m": 0.023254163563251495, "y_m": 1.9457334929029457e-05, "z_m": 0.13073740899562836, "vx_m_s": 0.0011724402429535985, "vy_m_s": 1.8111648387275636e-05, "vz_m_s": 0.0003465037443675101, "tilt_rad": 0.08731488911524964, "wheel_position_rad": [0.0026578435208648443, 0.0028590355068445206, 0.004582570865750313, 0.0036136084236204624], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011771158464351037, "forward_m_s": 0.001137778962654578, "normal_height_m": 0.13226664758102777, "ground_tilt_rad": 4.853441564186639e-05}
{"seq": 46, "t_s": 0.752, "x_m": 0.023276522755622864, "y_m": 1.9552555386326276e-05, "z_m": 0.13074085116386414, "vx_m_s": 0.0013303130399435759, "vy_m_s": 9.754501661518589e-06, "vz_m_s": 0.00015356332005467266, "tilt_rad": 0.08729576243733797, "wheel_position_rad": [0.0027274030726403, 0.002906765090301633, 0.004672533366829157, 0.0037034067790955305], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011793132568515758, "forward_m_s": 0.0013118668719759416, "normal_height_m": 0.13227202538279254, "ground_tilt_rad": 2.9383665465098936e-05}
{"seq": 47, "t_s": 0.768, "x_m": 0.023299913853406906, "y_m": 1.9593464458012022e-05, "z_m": 0.13074204325675964, "vx_m_s": 0.0014255958376452327, "vy_m_s": 4.4918383537151385e-06, "vz_m_s": 3.62413156835828e-05, "tilt_rad": 0.08728482911994147, "wheel_position_rad": [0.002797334687784314, 0.0029545717407017946, 0.004763156641274691, 0.003793742973357439], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011816330758369032, "forward_m_s": 0.0014170123762972868, "normal_height_m": 0.13227525160791573, "ground_tilt_rad": 1.843963758321754e-05}
{"seq": 48, "t_s": 0.784, "x_m": 0.02332392707467079, "y_m": 1.9597426216932945e-05, "z_m": 0.13074186444282532, "vx_m_s": 0.0014828442363068461, "vy_m_s": 1.2965873565917718e-06, "vz_m_s": -3.4069118555635214e-05, "tilt_rad": 0.08727662706647572, "wheel_position_rad": [0.0028674935456365347, 0.003002483630552888, 0.004854138940572739, 0.0038843899965286255], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011840268186737479, "forward_m_s": 0.0014801708856372578, "normal_height_m": 0.13227716636455744, "ground_tilt_rad": 1.0247947930796251e-05}
{"seq": 49, "t_s": 0.8, "x_m": 0.023348312824964523, "y_m": 1.9578568753786385e-05, "z_m": 0.13074086606502533, "vx_m_s": 0.0015169644029811025, "vy_m_s": -5.991058742438327e-07, "vz_m_s": -7.59411122999154e-05, "tilt_rad": 0.08727388975741072, "wheel_position_rad": [0.002937790472060442, 0.0030504632741212845, 0.00494533684104681, 0.003975225146859884], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011864648156247786, "forward_m_s": 0.0015178105994912668, "normal_height_m": 0.13227829714406572, "ground_tilt_rad": 7.509534766034782e-06}
{"seq": 50, "t_s": 0.8160000000000001, "x_m": 0.023372920230031013, "y_m": 1.954609979293309e-05, "z_m": 0.13073939085006714, "vx_m_s": 0.0015372117049992085, "vy_m_s": -1.7159042045022943e-06, "vz_m_s": -0.00010081099753733724, "tilt_rad": 0.08727115231314676, "wheel_position_rad": [0.0030081705190241337, 0.003098483430221677, 0.0050366646610200405, 0.0040661729872226715], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011889290496164212, "forward_m_s": 0.001540148407732283, "normal_height_m": 0.13227897221941146, "ground_tilt_rad": 4.793845061740103e-06}
{"seq": 51, "t_s": 0.8320000000000001, "x_m": 0.023397816345095634, "y_m": 1.9488928955979645e-05, "z_m": 0.13073761761188507, "vx_m_s": 0.0016065915115177631, "vy_m_s": -8.981096470961347e-06, "vz_m_s": -0.00011988062033196911, "tilt_rad": 0.08726841412194312, "wheel_position_rad": [0.0030783244874328375, 0.0031464570201933384, 0.005128675606101751, 0.004156147595494986], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011914246421885495, "forward_m_s": 0.001610926230279282, "normal_height_m": 0.13227937556833602, "ground_tilt_rad": 2.175416434793361e-06}
{"seq": 52, "t_s": 0.848, "x_m": 0.02342332899570465, "y_m": 1.9413477275520563e-05, "z_m": 0.1307356357574463, "vx_m_s": 0.001601417432539165, "vy_m_s": -4.412542239151662e-06, "vz_m_s": -0.00012786113074980676, "tilt_rad": 0.08726840740389881, "wheel_position_rad": [0.0031482898630201817, 0.0031948736868798733, 0.005222721491008997, 0.004244497511535883], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011939834719152095, "forward_m_s": 0.0016064673875462664, "normal_height_m": 0.13227962482946504, "ground_tilt_rad": 2.190724101947013e-06}
{"seq": 53, "t_s": 0.864, "x_m": 0.023449355736374855, "y_m": 1.931619772221893e-05, "z_m": 0.13073351979255676, "vx_m_s": 0.0016988527495414019, "vy_m_s": -7.804741471773013e-06, "vz_m_s": -0.00013806743663735688, "tilt_rad": 0.08726840107384116, "wheel_position_rad": [0.003213030518963933, 0.003244407707825303, 0.005318362731486559, 0.004334151279181242], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011965946838707935, "forward_m_s": 0.0017044214719211226, "normal_height_m": 0.13227978529637513, "ground_tilt_rad": 2.1296152365146806e-06}
{"seq": 54, "t_s": 0.88, "x_m": 0.023477984592318535, "y_m": 1.911330400616862e-05, "z_m": 0.13073112070560455, "vx_m_s": 0.00185408815741539, "vy_m_s": -1.3239830877864733e-05, "vz_m_s": -0.00015775197243783623, "tilt_rad": 0.08726565906861067, "wheel_position_rad": [0.003268613014370203, 0.003297551767900586, 0.005423379130661488, 0.004417966119945049], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.011994675847416697, "forward_m_s": 0.0018607817825396329, "normal_height_m": 0.13227989050787686, "ground_tilt_rad": 1.165057367646276e-06}
{"seq": 55, "t_s": 0.896, "x_m": 0.023507747799158096, "y_m": 1.8944005205412395e-05, "z_m": 0.1307285726070404, "vx_m_s": 0.001886823563836515, "vy_m_s": -1.0880715308303479e-05, "vz_m_s": -0.00016250472981482744, "tilt_rad": 0.08726564838344612, "wheel_position_rad": [0.0033230900298804045, 0.00335229211486876, 0.005532955285161734, 0.004499443341046572], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.012024547877691432, "forward_m_s": 0.0018938068509555272, "normal_height_m": 0.13227994613999572, "ground_tilt_rad": 1.3044262369106028e-06}
{"seq": 56, "t_s": 0.912, "x_m": 0.02354016713798046, "y_m": 1.883363802335225e-05, "z_m": 0.13072584569454193, "vx_m_s": 0.002312013879418373, "vy_m_s": -1.1315933079458773e-08, "vz_m_s": -0.00019038852769881487, "tilt_rad": 0.0872656364806643, "wheel_position_rad": [0.003368841717019677, 0.003408710239455104, 0.005641738418489695, 0.004581645596772432], "contacts": 3, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.012057081517226122, "forward_m_s": 0.002319809422133335, "normal_height_m": 0.132280055135777, "ground_tilt_rad": 1.0476480717037236e-06}
{"seq": 57, "t_s": 0.928, "x_m": 0.023580504581332207, "y_m": 1.8844828446162865e-05, "z_m": 0.1307225078344345, "vx_m_s": 0.0026956689544022083, "vy_m_s": 1.5686226106481627e-05, "vz_m_s": -0.00022310687927529216, "tilt_rad": 0.08726562402382604, "wheel_position_rad": [0.0034286801237612963, 0.003442463930696249, 0.005739682819694281, 0.004683137871325016], "contacts": 3, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.012097556378104555, "forward_m_s": 0.0027048561659613495, "normal_height_m": 0.1322802456170709, "ground_tilt_rad": 8.687517551868479e-07}
{"seq": 58, "t_s": 0.9440000000000001, "x_m": 0.02363242395222187, "y_m": 4.7833440476097167e-05, "z_m": 0.13062997162342072, "vx_m_s": 0.003055785084143281, "vy_m_s": 0.00036349764559417963, "vz_m_s": -0.0038538475055247545, "tilt_rad": 0.08726562950544052, "wheel_position_rad": [0.003479576902464032, 0.003492732299491763, 0.005833457224071026, 0.004767893813550472], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.012157343242315061, "forward_m_s": 0.0033800418411115947, "normal_height_m": 0.1321925866056103, "ground_tilt_rad": 0.0002790050730284733}
{"seq": 59, "t_s": 0.96, "x_m": 0.023673614487051964, "y_m": 6.405326712410897e-05, "z_m": 0.13062873482704163, "vx_m_s": 0.002263386268168688, "vy_m_s": 0.0014354584272950888, "vz_m_s": 0.0015113193076103926, "tilt_rad": 0.08726836178481745, "wheel_position_rad": [0.003547179978340864, 0.0035570035688579082, 0.0059362053871154785, 0.004864481743425131], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.012198484828631409, "forward_m_s": 0.0021230532432996484, "normal_height_m": 0.13219494450727218, "ground_tilt_rad": 0.00027092780613606823}
{"seq": 60, "t_s": 0.976, "x_m": 0.02370643801987171, "y_m": 7.757028652122244e-05, "z_m": 0.13065217435359955, "vx_m_s": 0.001975588034838438, "vy_m_s": 0.0013527574483305216, "vz_m_s": 0.0018063976895064116, "tilt_rad": 0.08726836033198443, "wheel_position_rad": [0.0036108510103076696, 0.00361697212792933, 0.006032365374267101, 0.004954618401825428], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.012229140568652272, "forward_m_s": 0.0018106323935929579, "normal_height_m": 0.13222115559873746, "ground_tilt_rad": 0.00018625025661947388}
{"seq": 61, "t_s": 0.992, "x_m": 0.023736868053674698, "y_m": 8.77159764058888e-05, "z_m": 0.13067136704921722, "vx_m_s": 0.0018774229101836681, "vy_m_s": 0.0009541617473587394, "vz_m_s": 0.0012506137136369944, "tilt_rad": 0.08726836119168928, "wheel_position_rad": [0.0036734179593622684, 0.0036758179776370525, 0.006125945597887039, 0.0050422428175807], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.012257782053347672, "forward_m_s": 0.0017612805820985062, "normal_height_m": 0.1322429274125518, "ground_tilt_rad": 0.00011596125007676395}
{"seq": 62, "t_s": 1.008, "x_m": 0.023766284808516502, "y_m": 9.443337330594659e-05, "z_m": 0.1306833028793335, "vx_m_s": 0.0018217948963865638, "vy_m_s": 0.0006085213390178978, "vz_m_s": 0.0007386676734313369, "tilt_rad": 0.08726836380227962, "wheel_position_rad": [0.0037355965469032526, 0.003734571160748601, 0.006218948867172003, 0.005129785276949406], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.01228604659241705, "forward_m_s": 0.001750483287069303, "normal_height_m": 0.1322573816623484, "ground_tilt_rad": 6.930516776606385e-05}
{"seq": 63, "t_s": 1.024, "x_m": 0.024061424657702446, "y_m": 9.09165755729191e-05, "z_m": 0.13064023852348328, "vx_m_s": 0.029715651646256447, "vy_m_s": 0.0009972183033823967, "vz_m_s": -0.010721647180616856, "tilt_rad": 0.08718633271076731, "wheel_position_rad": [0.01813943311572075, 0.017939619719982147, 0.020464155822992325, 0.01942252553999424], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.01258381665129176, "forward_m_s": 0.03053702774384692, "normal_height_m": 0.13224020431214392, "ground_tilt_rad": 9.871732626167344e-05}
{"seq": 64, "t_s": 1.04, "x_m": 0.02482609450817108, "y_m": 0.00012958272418472916, "z_m": 0.1306324601173401, "vx_m_s": 0.061890486627817154, "vy_m_s": 0.0003846624167636037, "vz_m_s": -0.001787134213373065, "tilt_rad": 0.0872082780708887, "wheel_position_rad": [0.05794987827539444, 0.05735413730144501, 0.05993806570768356, 0.058856282383203506], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.013346254634884026, "forward_m_s": 0.06181073365070581, "normal_height_m": 0.1322991008739588, "ground_tilt_rad": 0.00024184036595898756}
{"seq": 65, "t_s": 1.056, "x_m": 0.02604237198829651, "y_m": 0.00013322739687282592, "z_m": 0.13054676353931427, "vx_m_s": 0.09076543152332306, "vy_m_s": 0.0007258069817908108, "vz_m_s": 0.0009476504055783153, "tilt_rad": 0.08732305085810925, "wheel_position_rad": [0.11506859958171844, 0.11428380757570267, 0.11687219887971878, 0.11580752581357956], "contacts": 3, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.014565372760902138, "forward_m_s": 0.09033744847858052, "normal_height_m": 0.13231973596445246, "ground_tilt_rad": 0.00018751968399922665}
{"seq": 66, "t_s": 1.072, "x_m": 0.027742179110646248, "y_m": 0.00012046899792039767, "z_m": 0.1303725242614746, "vx_m_s": 0.12147402763366699, "vy_m_s": 0.0005045331781730056, "vz_m_s": 0.001852795947343111, "tilt_rad": 0.08720551197721743, "wheel_position_rad": [0.17313732206821442, 0.17234952747821808, 0.17492841184139252, 0.1738186925649643], "contacts": 2, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.016273897557641463, "forward_m_s": 0.12085030047755871, "normal_height_m": 0.13229430767194542, "ground_tilt_rad": 7.286361110998419e-05}
{"seq": 67, "t_s": 1.088, "x_m": 0.029889246448874474, "y_m": 0.00013091173605062068, "z_m": 0.13017836213111877, "vx_m_s": 0.14837349951267242, "vy_m_s": 0.0011010142043232918, "vz_m_s": -0.014424555003643036, "tilt_rad": 0.08730664538030726, "wheel_position_rad": [0.2312438189983368, 0.230412095785141, 0.23296870291233063, 0.2318645864725113], "contacts": 2, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.01842971700111501, "forward_m_s": 0.1490660763569894, "normal_height_m": 0.13228801363570725, "ground_tilt_rad": 4.904065195864206e-05}
{"seq": 68, "t_s": 1.104, "x_m": 0.032512128353118896, "y_m": 0.00014610594371333718, "z_m": 0.12996342778205872, "vx_m_s": 0.17803773283958435, "vy_m_s": 0.001022059703245759, "vz_m_s": -0.014890538528561592, "tilt_rad": 0.08736127810644562, "wheel_position_rad": [0.28932636976242065, 0.28848281502723694, 0.2910206615924835, 0.2898930013179779], "contacts": 2, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.0210613508106784, "forward_m_s": 0.17865804146043798, "normal_height_m": 0.13230249639723962, "ground_tilt_rad": 9.971934787023941e-05}
{"seq": 69, "t_s": 1.12, "x_m": 0.035595327615737915, "y_m": 0.00016467428940813988, "z_m": 0.1296142190694809, "vx_m_s": 0.2046177089214325, "vy_m_s": 0.0014471104368567467, "vz_m_s": -0.02511436864733696, "tilt_rad": 0.08731215550338575, "wheel_position_rad": [0.3474428355693817, 0.34655094146728516, 0.34905144572257996, 0.3479663133621216], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.02416325311397852, "forward_m_s": 0.20602793821630827, "normal_height_m": 0.13222333505101475, "ground_tilt_rad": 0.00013159342349366112}
{"seq": 70, "t_s": 1.1360000000000001, "x_m": 0.0391642265021801, "y_m": 0.00016162543033715338, "z_m": 0.12931858003139496, "vx_m_s": 0.23477260768413544, "vy_m_s": 0.0013985936529934406, "vz_m_s": -0.02297082543373108, "tilt_rad": 0.08726569992249544, "wheel_position_rad": [0.4055178761482239, 0.40463951230049133, 0.40710926055908203, 0.4059755802154541], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.02774433790262734, "forward_m_s": 0.23588126638431275, "normal_height_m": 0.13223987104196377, "ground_tilt_rad": 1.390526669894355e-06}
{"seq": 71, "t_s": 1.1520000000000001, "x_m": 0.043189141899347305, "y_m": 0.0001603157725185156, "z_m": 0.1289428025484085, "vx_m_s": 0.26469528675079346, "vy_m_s": 0.0013549979776144028, "vz_m_s": -0.021836448460817337, "tilt_rad": 0.08725475926672692, "wheel_position_rad": [0.4635990560054779, 0.46272405982017517, 0.4651651680469513, 0.46399548649787903], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.03178668844719067, "forward_m_s": 0.2655912131555882, "normal_height_m": 0.13221631799668698, "ground_tilt_rad": 0.00010450099039282545}
{"seq": 72, "t_s": 1.168, "x_m": 0.04768906533718109, "y_m": 0.0001811262482078746, "z_m": 0.12857769429683685, "vx_m_s": 0.29308992624282837, "vy_m_s": 0.0015953653492033482, "vz_m_s": -0.02862468734383583, "tilt_rad": 0.08725478831802551, "wheel_position_rad": [0.5216846466064453, 0.5207966566085815, 0.5232154130935669, 0.5220263600349426], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.0363013095986285, "forward_m_s": 0.2944694364735779, "normal_height_m": 0.13224479326177374, "ground_tilt_rad": 1.6024229586924905e-05}
{"seq": 73, "t_s": 1.184, "x_m": 0.05265284329652786, "y_m": 0.0002107215259457007, "z_m": 0.12815681099891663, "vx_m_s": 0.32335472106933594, "vy_m_s": 0.0009337274823337793, "vz_m_s": -0.025792967528104782, "tilt_rad": 0.0872575624046913, "wheel_position_rad": [0.5797725319862366, 0.5788585543632507, 0.5812607407569885, 0.5800650715827942], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.04128288128067474, "forward_m_s": 0.32437226397478586, "normal_height_m": 0.1322581333067516, "ground_tilt_rad": 0.00021330558171319834}
{"seq": 74, "t_s": 1.2, "x_m": 0.05807748809456825, "y_m": 0.00022038213501218706, "z_m": 0.12765651941299438, "vx_m_s": 0.3530285060405731, "vy_m_s": 0.00013812119141221046, "vz_m_s": -0.026103081181645393, "tilt_rad": 0.08726030402785531, "wheel_position_rad": [0.6378602981567383, 0.6369255185127258, 0.6393114328384399, 0.6381050944328308], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.046730486952275, "forward_m_s": 0.35396015942125747, "normal_height_m": 0.13223253442787136, "ground_tilt_rad": 0.0002172178719082528}
{"seq": 75, "t_s": 1.216, "x_m": 0.0639684870839119, "y_m": 0.00020860691438429058, "z_m": 0.127106174826622, "vx_m_s": 0.3796887695789337, "vy_m_s": -0.00011169584468007088, "vz_m_s": -0.042191728949546814, "tilt_rad": 0.08726301311773504, "wheel_position_rad": [0.6959604620933533, 0.6949958205223083, 0.6973574161529541, 0.6961508989334106], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.05264703460311541, "forward_m_s": 0.38192119065391783, "normal_height_m": 0.13219771846124567, "ground_tilt_rad": 8.805943298617689e-06}
{"seq": 76, "t_s": 1.232, "x_m": 0.0703386440873146, "y_m": 0.00018857633403968066, "z_m": 0.1265745460987091, "vx_m_s": 0.41143980622291565, "vy_m_s": 0.0013211248442530632, "vz_m_s": -0.030828967690467834, "tilt_rad": 0.08726297425765078, "wheel_position_rad": [0.7540497183799744, 0.7530706524848938, 0.7553943991661072, 0.7541679739952087], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.05903928573256442, "forward_m_s": 0.41256107512037005, "normal_height_m": 0.13222330850619632, "ground_tilt_rad": 0.0002829417311638089}
{"seq": 77, "t_s": 1.248, "x_m": 0.07717379927635193, "y_m": 0.00023221271112561226, "z_m": 0.12600383162498474, "vx_m_s": 0.44014135003089905, "vy_m_s": 0.00011118780821561813, "vz_m_s": -0.036425113677978516, "tilt_rad": 0.08726303680568712, "wheel_position_rad": [0.8121339678764343, 0.8111380338668823, 0.8134485483169556, 0.8122076392173767], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.06589817213637197, "forward_m_s": 0.4416411371489969, "normal_height_m": 0.13225048880064397, "ground_tilt_rad": 5.8834709731422754e-05}
{"seq": 78, "t_s": 1.264, "x_m": 0.08447148650884628, "y_m": 0.00023778171453159302, "z_m": 0.12535890936851501, "vx_m_s": 0.4673987030982971, "vy_m_s": 0.0009665775578469038, "vz_m_s": -0.049006976187229156, "tilt_rad": 0.08726303952963148, "wheel_position_rad": [0.870226263999939, 0.869217574596405, 0.8714994788169861, 0.8702405095100403], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.0732242981439918, "forward_m_s": 0.46989134933089627, "normal_height_m": 0.1322440560191556, "ground_tilt_rad": 2.2373749905544113e-05}
{"seq": 79, "t_s": 1.28, "x_m": 0.09223774075508118, "y_m": 0.0002466449805069715, "z_m": 0.12468066066503525, "vx_m_s": 0.4974212646484375, "vy_m_s": 0.00012150406837463379, "vz_m_s": -0.04750673845410347, "tilt_rad": 0.08726304643630492, "wheel_position_rad": [0.9283096790313721, 0.9272874593734741, 0.9295502305030823, 0.9282723665237427], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.08102011271764291, "forward_m_s": 0.4996689116363506, "normal_height_m": 0.13224526191395922, "ground_tilt_rad": 1.8542212495577872e-05}
{"seq": 80, "t_s": 1.296, "x_m": 0.10047004371881485, "y_m": 0.00024392407794948667, "z_m": 0.12395244091749191, "vx_m_s": 0.5278112292289734, "vy_m_s": 0.0007646902231499553, "vz_m_s": -0.043590251356363297, "tilt_rad": 0.08726303716748149, "wheel_position_rad": [0.9863971471786499, 0.9853615164756775, 0.9875962138175964, 0.9862989783287048], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.08928455781618001, "forward_m_s": 0.5296018888847112, "normal_height_m": 0.13223730574173878, "ground_tilt_rad": 0.00010083611820487554}
{"seq": 81, "t_s": 1.312, "x_m": 0.10915712267160416, "y_m": 0.0002795563777908683, "z_m": 0.12318248301744461, "vx_m_s": 0.5559542775154114, "vy_m_s": -6.013084203004837e-05, "vz_m_s": -0.049987372010946274, "tilt_rad": 0.08731495741321335, "wheel_position_rad": [1.0444691181182861, 1.0434517860412598, 1.0456680059432983, 1.0443227291107178], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.09800568606351617, "forward_m_s": 0.5581953901778972, "normal_height_m": 0.1322274065823957, "ground_tilt_rad": 0.00020675731651633678}
{"seq": 82, "t_s": 1.328, "x_m": 0.11830206960439682, "y_m": 0.000271037919446826, "z_m": 0.12234798818826675, "vx_m_s": 0.5833406448364258, "vy_m_s": 0.001499778125435114, "vz_m_s": -0.052430249750614166, "tilt_rad": 0.08730672226243683, "wheel_position_rad": [1.1025152206420898, 1.1015747785568237, 1.1037724018096924, 1.10232412815094], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.10718856472895066, "forward_m_s": 0.5856904549269273, "normal_height_m": 0.1321931219002992, "ground_tilt_rad": 4.1110067691594454e-05}
{"seq": 83, "t_s": 1.344, "x_m": 0.1277826875448227, "y_m": 0.00026251975214108825, "z_m": 0.12151985615491867, "vx_m_s": 0.5965442061424255, "vy_m_s": -0.0002082296705339104, "vz_m_s": -0.05073580518364906, "tilt_rad": 0.08729305167494669, "wheel_position_rad": [1.1606500148773193, 1.159725308418274, 1.1619174480438232, 1.1604387760162354], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.11670528251829598, "forward_m_s": 0.5986960921211151, "normal_height_m": 0.1321944314576625, "ground_tilt_rad": 0.00014363689037529562}
{"seq": 84, "t_s": 1.36, "x_m": 0.1373526155948639, "y_m": 0.0002572392695583403, "z_m": 0.12070883065462112, "vx_m_s": 0.5986882448196411, "vy_m_s": -0.0005912972846999764, "vz_m_s": -0.05092819035053253, "tilt_rad": 0.08728485086170863, "wheel_position_rad": [1.2188527584075928, 1.2179291248321533, 1.2201311588287354, 1.2186421155929565], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.12630947963273223, "forward_m_s": 0.6008487395559743, "normal_height_m": 0.13222056634149187, "ground_tilt_rad": 0.00011917647554205323}
{"seq": 85, "t_s": 1.3760000000000001, "x_m": 0.14693622291088104, "y_m": 0.0002529954072088003, "z_m": 0.11989252269268036, "vx_m_s": 0.5990456938743591, "vy_m_s": -0.0004898616462014616, "vz_m_s": -0.05139650031924248, "tilt_rad": 0.08727938098953873, "wheel_position_rad": [1.2770657539367676, 1.2761389017105103, 1.2783607244491577, 1.2768659591674805], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.13592776435627554, "forward_m_s": 0.6012456443122812, "normal_height_m": 0.13224263109162576, "ground_tilt_rad": 7.886884368954808e-05}
{"seq": 86, "t_s": 1.3920000000000001, "x_m": 0.15652216970920563, "y_m": 0.0002502076094970107, "z_m": 0.11906862258911133, "vx_m_s": 0.5991247892379761, "vy_m_s": -0.0003062858013436198, "vz_m_s": -0.05177914351224899, "tilt_rad": 0.08727390864630645, "wheel_position_rad": [1.3352800607681274, 1.3343478441238403, 1.3365944623947144, 1.33509361743927], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.1455490413584325, "forward_m_s": 0.601357788245854, "normal_height_m": 0.13225733648984056, "ground_tilt_rad": 4.841244175062369e-05}
{"seq": 87, "t_s": 1.408, "x_m": 0.16610853374004364, "y_m": 0.0002489382750354707, "z_m": 0.11823908239603043, "vx_m_s": 0.5991452932357788, "vy_m_s": -0.0001534947077743709, "vz_m_s": -0.05203137546777725, "tilt_rad": 0.08727116852335479, "wheel_position_rad": [1.3934943675994873, 1.39255690574646, 1.3948287963867188, 1.3933223485946655], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.1551712255715977, "forward_m_s": 0.6014001976831834, "normal_height_m": 0.1322664596249965, "ground_tilt_rad": 2.891971819268722e-05}
{"seq": 88, "t_s": 1.424, "x_m": 0.17569495737552643, "y_m": 0.00024881420540623367, "z_m": 0.11740587651729584, "vx_m_s": 0.5991528034210205, "vy_m_s": -4.9665399274090305e-05, "vz_m_s": -0.05218903720378876, "tilt_rad": 0.08727116138591294, "wheel_position_rad": [1.4517085552215576, 1.4507662057876587, 1.4530630111694336, 1.4515516757965088], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.1647937886481499, "forward_m_s": 0.6014214204156079, "normal_height_m": 0.13227193621842642, "ground_tilt_rad": 1.740079230379985e-05}
{"seq": 89, "t_s": 1.44, "x_m": 0.18528138101100922, "y_m": 0.0002494539075996727, "z_m": 0.11657044291496277, "vx_m_s": 0.5991566777229309, "vy_m_s": 1.5722293028375134e-05, "vz_m_s": -0.052281830459833145, "tilt_rad": 0.0872684216658537, "wheel_position_rad": [1.5099225044250488, 1.508975863456726, 1.5112971067428589, 1.5097812414169312], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.17441654588360694, "forward_m_s": 0.6014333674397824, "normal_height_m": 0.13227519356541875, "ground_tilt_rad": 9.871172981193655e-06}
{"seq": 90, "t_s": 1.456, "x_m": 0.19486775994300842, "y_m": 0.00025068584363907576, "z_m": 0.11573371291160583, "vx_m_s": 0.5991578698158264, "vy_m_s": 5.950041668256745e-05, "vz_m_s": -0.052339617162942886, "tilt_rad": 0.0872684149336108, "wheel_position_rad": [1.56813645362854, 1.5671857595443726, 1.5695308446884155, 1.568010926246643], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.1840393715744848, "forward_m_s": 0.6014395914394349, "normal_height_m": 0.13227715554841918, "ground_tilt_rad": 5.027899986154067e-06}
{"seq": 91, "t_s": 1.472, "x_m": 0.20445415377616882, "y_m": 0.00025217822985723615, "z_m": 0.11489614844322205, "vx_m_s": 0.5991575717926025, "vy_m_s": 8.735405572224408e-05, "vz_m_s": -0.05237191542983055, "tilt_rad": 0.08726840839931743, "wheel_position_rad": [1.6263504028320312, 1.6253958940505981, 1.6277644634246826, 1.6262407302856445], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.1936622848382396, "forward_m_s": 0.6014421095297195, "normal_height_m": 0.13227828754050588, "ground_tilt_rad": 2.991461460172149e-06}
{"seq": 92, "t_s": 1.488, "x_m": 0.21404048800468445, "y_m": 0.0002538380504120141, "z_m": 0.11405827105045319, "vx_m_s": 0.5991618037223816, "vy_m_s": 0.00010137743811355904, "vz_m_s": -0.05236149951815605, "tilt_rad": 0.08726840190856237, "wheel_position_rad": [1.684564232826233, 1.6836061477661133, 1.6859979629516602, 1.6844706535339355], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.20328516599732055, "forward_m_s": 0.6014454175492097, "normal_height_m": 0.13227910260409217, "ground_tilt_rad": 2.3230523192774602e-06}
{"seq": 93, "t_s": 1.504, "x_m": 0.2236318439245224, "y_m": 0.0002553206286393106, "z_m": 0.11321970820426941, "vx_m_s": 0.5994049906730652, "vy_m_s": 9.154402505373582e-05, "vz_m_s": -0.05242588743567467, "tilt_rad": 0.08726566183610657, "wheel_position_rad": [1.7427644729614258, 1.7418287992477417, 1.7442452907562256, 1.7426817417144775], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.21291310947987374, "forward_m_s": 0.601693290876901, "normal_height_m": 0.13227967249185782, "ground_tilt_rad": 1.333716360421019e-06}
{"seq": 94, "t_s": 1.52, "x_m": 0.23322506248950958, "y_m": 0.0002575003309175372, "z_m": 0.1123804897069931, "vx_m_s": 0.5995908975601196, "vy_m_s": 0.00015123408229555935, "vz_m_s": -0.05244654044508934, "tilt_rad": 0.08726839421496341, "wheel_position_rad": [1.800963044166565, 1.800045132637024, 1.8024952411651611, 1.8009001016616821], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.22254296566340695, "forward_m_s": 0.601880290360499, "normal_height_m": 0.13227975156370272, "ground_tilt_rad": 1.946470419461083e-06}
{"seq": 95, "t_s": 1.536, "x_m": 0.24282322824001312, "y_m": 0.0002596890553832054, "z_m": 0.11154080927371979, "vx_m_s": 0.5999075174331665, "vy_m_s": 0.00016790349036455154, "vz_m_s": -0.05247965455055237, "tilt_rad": 0.08726566441300006, "wheel_position_rad": [1.859153389930725, 1.8582707643508911, 1.8607574701309204, 1.8591029644012451], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.23217779046729697, "forward_m_s": 0.6021985914837957, "normal_height_m": 0.13227980163298472, "ground_tilt_rad": 8.039725399146422e-07}
{"seq": 96, "t_s": 1.552, "x_m": 0.2524203360080719, "y_m": 0.0002618204744067043, "z_m": 0.11070120334625244, "vx_m_s": 0.6000707149505615, "vy_m_s": 0.0001493147574365139, "vz_m_s": -0.05249693617224693, "tilt_rad": 0.08726566601265207, "wheel_position_rad": [1.9173475503921509, 1.9164987802505493, 1.919018268585205, 1.917306900024414], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.241811554821076, "forward_m_s": 0.6023626741779411, "normal_height_m": 0.13227983371530982, "ground_tilt_rad": 9.333171942705015e-07}
{"seq": 97, "t_s": 1.568, "x_m": 0.2620158791542053, "y_m": 0.0002639488084241748, "z_m": 0.10986173897981644, "vx_m_s": 0.5995102524757385, "vy_m_s": 0.00012584278010763228, "vz_m_s": -0.052444346249103546, "tilt_rad": 0.08726566618883184, "wheel_position_rad": [1.9755419492721558, 1.9747271537780762, 1.9772768020629883, 1.9755216836929321], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2514437481689316, "forward_m_s": 0.6017997609182304, "normal_height_m": 0.1322798704541978, "ground_tilt_rad": 7.973165644211829e-07}
{"seq": 98, "t_s": 1.584, "x_m": 0.2716093957424164, "y_m": 0.0002661265025380999, "z_m": 0.10902241617441177, "vx_m_s": 0.5996225476264954, "vy_m_s": 0.00013547050184570253, "vz_m_s": -0.052461329847574234, "tilt_rad": 0.08726567050847121, "wheel_position_rad": [2.0337564945220947, 2.032942533493042, 2.035512924194336, 2.0337417125701904], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2610739103326728, "forward_m_s": 0.601913108970175, "normal_height_m": 0.1322798715892737, "ground_tilt_rad": 8.070048489601238e-07}
{"seq": 99, "t_s": 1.6, "x_m": 0.281203031539917, "y_m": 0.0002682371705304831, "z_m": 0.10818308591842651, "vx_m_s": 0.5995896458625793, "vy_m_s": 0.00012828454782720655, "vz_m_s": -0.052454639226198196, "tilt_rad": 0.08726566957981957, "wheel_position_rad": [2.091987371444702, 2.091151475906372, 2.093738555908203, 2.0919644832611084], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.270704191901437, "forward_m_s": 0.6018797492813286, "normal_height_m": 0.13227987569189487, "ground_tilt_rad": 7.931282152039774e-07}
{"seq": 100, "t_s": 1.616, "x_m": 0.2907979488372803, "y_m": 0.000270375341642648, "z_m": 0.1073436439037323, "vx_m_s": 0.5997319221496582, "vy_m_s": 0.00013798677537124604, "vz_m_s": -0.05247082933783531, "tilt_rad": 0.08726567159961383, "wheel_position_rad": [2.150210380554199, 2.1493635177612305, 2.151963949203491, 2.150188446044922], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.28033575983398334, "forward_m_s": 0.6020228952253857, "normal_height_m": 0.1322798801511551, "ground_tilt_rad": 7.920075813483393e-07}
{"seq": 101, "t_s": 1.6320000000000001, "x_m": 0.3003937304019928, "y_m": 0.0002725585363805294, "z_m": 0.10650409013032913, "vx_m_s": 0.5996832251548767, "vy_m_s": 0.00013320203288458288, "vz_m_s": -0.05246585234999657, "tilt_rad": 0.08726567557590335, "wheel_position_rad": [2.2084338665008545, 2.2075772285461426, 2.210190534591675, 2.2084126472473145], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.28996819848549404, "forward_m_s": 0.6019739497642995, "normal_height_m": 0.13227984860284475, "ground_tilt_rad": 8.041106202144865e-07}
{"seq": 102, "t_s": 1.6480000000000001, "x_m": 0.30998775362968445, "y_m": 0.0002746370737440884, "z_m": 0.10566473007202148, "vx_m_s": 0.5996008515357971, "vy_m_s": 0.0001280779979424551, "vz_m_s": -0.05245824158191681, "tilt_rad": 0.08726567357330615, "wheel_position_rad": [2.2666664123535156, 2.2657854557037354, 2.2684152126312256, 2.266636848449707], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2995988686076041, "forward_m_s": 0.6018912262795649, "normal_height_m": 0.13227985678331644, "ground_tilt_rad": 7.978733497993893e-07}
{"seq": 103, "t_s": 1.6640000000000001, "x_m": 0.31958165764808655, "y_m": 0.0002766904071904719, "z_m": 0.10482538491487503, "vx_m_s": 0.5996447205543518, "vy_m_s": 0.00013008620589971542, "vz_m_s": -0.05245877802371979, "tilt_rad": 0.08726567173035028, "wheel_position_rad": [2.3248960971832275, 2.3239941596984863, 2.326639175415039, 2.3248610496520996], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3092294186753301, "forward_m_s": 0.6019349751172434, "normal_height_m": 0.13227986941847175, "ground_tilt_rad": 8.296615425989302e-07}
{"seq": 104, "t_s": 1.68, "x_m": 0.3291677236557007, "y_m": 0.0002786233671940863, "z_m": 0.10396327078342438, "vx_m_s": 0.5974711775779724, "vy_m_s": 0.0001287574414163828, "vz_m_s": -0.06786810606718063, "tilt_rad": 0.08717818057535824, "wheel_position_rad": [2.3689324855804443, 2.367932081222534, 2.370720386505127, 2.3688626289367676], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3188541450051326, "forward_m_s": 0.60111271455897, "normal_height_m": 0.13225651659449233, "ground_tilt_rad": 8.829785386649755e-05}
{"seq": 105, "t_s": 1.696, "x_m": 0.338695228099823, "y_m": 0.00028069395921193063, "z_m": 0.10315718501806259, "vx_m_s": 0.595525324344635, "vy_m_s": 0.00012774491915479302, "vz_m_s": -0.03530209884047508, "tilt_rad": 0.0873503428471628, "wheel_position_rad": [2.3877193927764893, 2.386504650115967, 2.389662027359009, 2.3876006603240967], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3284156494220112, "forward_m_s": 0.5963359513364853, "normal_height_m": 0.13228387495519078, "ground_tilt_rad": 8.389885600676805e-05}
{"seq": 106, "t_s": 1.712, "x_m": 0.348234087228775, "y_m": 0.0002830396988429129, "z_m": 0.10230588167905807, "vx_m_s": 0.592863917350769, "vy_m_s": 0.00012523223995231092, "vz_m_s": -0.04319536313414574, "tilt_rad": 0.08711524034385744, "wheel_position_rad": [2.3889334201812744, 2.387620210647583, 2.390953779220581, 2.3887948989868164], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3379924062869318, "forward_m_s": 0.5943726151119503, "normal_height_m": 0.13226717743475577, "ground_tilt_rad": 0.00015122514352920748}
{"seq": 107, "t_s": 1.728, "x_m": 0.35771769285202026, "y_m": 0.0002853790356311947, "z_m": 0.10141222923994064, "vx_m_s": 0.5920292735099792, "vy_m_s": 0.00012747647997457534, "vz_m_s": -0.05663963034749031, "tilt_rad": 0.08711797635895008, "wheel_position_rad": [2.389003038406372, 2.3876821994781494, 2.391050338745117, 2.388887405395508], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3475178108696913, "forward_m_s": 0.5947128924376375, "normal_height_m": 0.13220347630499002, "ground_tilt_rad": 0.00014852832876899194}
{"seq": 108, "t_s": 1.744, "x_m": 0.3671553134918213, "y_m": 0.00028740253765136003, "z_m": 0.10067964345216751, "vx_m_s": 0.5899427533149719, "vy_m_s": 0.00013552865129895508, "vz_m_s": -0.05696148797869682, "tilt_rad": 0.08724653547749539, "wheel_position_rad": [2.3890748023986816, 2.387761116027832, 2.39117693901062, 2.388976573944092], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.356983367572122, "forward_m_s": 0.5926623638228167, "normal_height_m": 0.13229622106394556, "ground_tilt_rad": 2.0148034122596287e-05}
{"seq": 109, "t_s": 1.76, "x_m": 0.37658730149269104, "y_m": 0.00028931256383657455, "z_m": 0.09980835765600204, "vx_m_s": 0.5870252847671509, "vy_m_s": 0.00012498795695137233, "vz_m_s": -0.06800778955221176, "tilt_rad": 0.0871453439045161, "wheel_position_rad": [2.389148235321045, 2.387827157974243, 2.3912949562072754, 2.389054298400879], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3664554015717637, "forward_m_s": 0.5907187457418823, "normal_height_m": 0.1322503026930857, "ground_tilt_rad": 0.00012112599328827475}
{"seq": 110, "t_s": 1.776, "x_m": 0.38597238063812256, "y_m": 0.00029159648693166673, "z_m": 0.09896600991487503, "vx_m_s": 0.5849671959877014, "vy_m_s": 0.00012347218580543995, "vz_m_s": -0.06399738043546677, "tilt_rad": 0.08719185033111974, "wheel_position_rad": [2.3892264366149902, 2.387890577316284, 2.391404151916504, 2.3891494274139404], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.37587818310064375, "forward_m_s": 0.5883189584263007, "normal_height_m": 0.13222912388309105, "ground_tilt_rad": 7.468842241493971e-05}
{"seq": 111, "t_s": 1.792, "x_m": 0.3953389823436737, "y_m": 0.0002935362281277776, "z_m": 0.09817269444465637, "vx_m_s": 0.5830942988395691, "vy_m_s": 0.00012664811220020056, "vz_m_s": -0.06408026069402695, "tilt_rad": 0.08710976031987805, "wheel_position_rad": [2.389286756515503, 2.3879752159118652, 2.3915348052978516, 2.389223098754883], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.38527828405789105, "forward_m_s": 0.5864604117077541, "normal_height_m": 0.13225518034641384, "ground_tilt_rad": 0.00015671526023402826}
{"seq": 112, "t_s": 1.808, "x_m": 0.4046512544155121, "y_m": 0.0002956944808829576, "z_m": 0.09733410179615021, "vx_m_s": 0.5822482109069824, "vy_m_s": 0.00012766715371981263, "vz_m_s": -0.07912314683198929, "tilt_rad": 0.08726019717661569, "wheel_position_rad": [2.389355421066284, 2.388035774230957, 2.391631841659546, 2.3893139362335205], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.39462820828818757, "forward_m_s": 0.5869286173096144, "normal_height_m": 0.13223139678520263, "ground_tilt_rad": 6.8594724291904e-06}
{"seq": 113, "t_s": 1.824, "x_m": 0.413930207490921, "y_m": 0.00029794254805892706, "z_m": 0.09652841836214066, "vx_m_s": 0.5809362530708313, "vy_m_s": 0.00013043951184954494, "vz_m_s": -0.054330140352249146, "tilt_rad": 0.08742401423317292, "wheel_position_rad": [2.3894271850585938, 2.388101816177368, 2.3917341232299805, 2.389413595199585], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4039420720838626, "forward_m_s": 0.5834607989744315, "normal_height_m": 0.1322374932671099, "ground_tilt_rad": 0.0001576145988629097}
{"seq": 114, "t_s": 1.84, "x_m": 0.4232035279273987, "y_m": 0.00030022510327398777, "z_m": 0.09570124745368958, "vx_m_s": 0.578190803527832, "vy_m_s": 0.00012730463640764356, "vz_m_s": -0.07164205610752106, "tilt_rad": 0.08734487245437314, "wheel_position_rad": [2.389507293701172, 2.3881618976593018, 2.391845703125, 2.389500856399536], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4132521974312928, "forward_m_s": 0.5822346295718528, "normal_height_m": 0.13222169312407345, "ground_tilt_rad": 7.86791725048876e-05}
{"seq": 115, "t_s": 1.856, "x_m": 0.43245378136634827, "y_m": 0.0003024958714377135, "z_m": 0.09489838033914566, "vx_m_s": 0.5763406157493591, "vy_m_s": 0.00012825417798012495, "vz_m_s": -0.06323958933353424, "tilt_rad": 0.08718363928803842, "wheel_position_rad": [2.38958740234375, 2.3882269859313965, 2.391961097717285, 2.3895926475524902], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4225372253428751, "forward_m_s": 0.5796591590838646, "normal_height_m": 0.1322280938703683, "ground_tilt_rad": 8.325412782764346e-05}
{"seq": 116, "t_s": 1.872, "x_m": 0.4416502118110657, "y_m": 0.00030459597473964095, "z_m": 0.09410607069730759, "vx_m_s": 0.5742347836494446, "vy_m_s": 0.0001284291793126613, "vz_m_s": -0.05979768559336662, "tilt_rad": 0.08724105998927761, "wheel_position_rad": [2.389669179916382, 2.3882906436920166, 2.392072916030884, 2.38968825340271], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.43176771492859256, "forward_m_s": 0.577261358633918, "normal_height_m": 0.13224032093195878, "ground_tilt_rad": 2.6841628389962003e-05}
{"seq": 117, "t_s": 1.8880000000000001, "x_m": 0.4508192539215088, "y_m": 0.00030665291706100106, "z_m": 0.09338295459747314, "vx_m_s": 0.5718957185745239, "vy_m_s": 0.0001326724304817617, "vz_m_s": -0.027696631848812103, "tilt_rad": 0.08725472532331605, "wheel_position_rad": [2.3897628784179688, 2.3883588314056396, 2.3921964168548584, 2.3898017406463623], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.44096488978636983, "forward_m_s": 0.5721334032257014, "normal_height_m": 0.13231909118261914, "ground_tilt_rad": 1.4470592747195262e-05}
{"seq": 118, "t_s": 1.9040000000000001, "x_m": 0.4599762260913849, "y_m": 0.00030857938691042364, "z_m": 0.09254156798124313, "vx_m_s": 0.5692735910415649, "vy_m_s": 0.00012629947741515934, "vz_m_s": -0.03875071555376053, "tilt_rad": 0.08709606371119386, "wheel_position_rad": [2.389850616455078, 2.388411521911621, 2.392305612564087, 2.389895439147949], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.45016034858804954, "forward_m_s": 0.5704846805553468, "normal_height_m": 0.13227898900727064, "ground_tilt_rad": 0.0001705424203817917}
{"seq": 119, "t_s": 1.92, "x_m": 0.46906551718711853, "y_m": 0.00031064386712387204, "z_m": 0.0917637050151825, "vx_m_s": 0.5678845047950745, "vy_m_s": 0.00012807961320504546, "vz_m_s": -0.026626668870449066, "tilt_rad": 0.08728751394491216, "wheel_position_rad": [2.3899238109588623, 2.3884799480438232, 2.392413854598999, 2.3899941444396973], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4592828474115948, "forward_m_s": 0.5680441999076096, "normal_height_m": 0.13229626996113747, "ground_tilt_rad": 2.2130130837066035e-05}
{"seq": 120, "t_s": 1.936, "x_m": 0.47815564274787903, "y_m": 0.0003128719108644873, "z_m": 0.09096524119377136, "vx_m_s": 0.5652501583099365, "vy_m_s": 0.00012553810665849596, "vz_m_s": -0.04045061022043228, "tilt_rad": 0.08716722110655867, "wheel_position_rad": [2.390005350112915, 2.3885409832000732, 2.3925254344940186, 2.3900833129882812], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4684079730076249, "forward_m_s": 0.5666247137822363, "normal_height_m": 0.13229310118054716, "ground_tilt_rad": 9.959177459923363e-05}
{"seq": 121, "t_s": 1.952, "x_m": 0.4872117340564728, "y_m": 0.00031492020934820175, "z_m": 0.09014786779880524, "vx_m_s": 0.5633859634399414, "vy_m_s": 0.0001263088488485664, "vz_m_s": -0.03921135887503624, "tilt_rad": 0.08707963105948252, "wheel_position_rad": [2.3900930881500244, 2.3885908126831055, 2.3926260471343994, 2.3901853561401367], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4775008419400212, "forward_m_s": 0.5646596048650785, "normal_height_m": 0.13226812850251177, "ground_tilt_rad": 0.0001870058698941683}
{"seq": 122, "t_s": 1.968, "x_m": 0.4962102472782135, "y_m": 0.00031693847267888486, "z_m": 0.0893685445189476, "vx_m_s": 0.5620387196540833, "vy_m_s": 0.00012837990652769804, "vz_m_s": -0.026508571580052376, "tilt_rad": 0.08724378766996344, "wheel_position_rad": [2.390166997909546, 2.388658046722412, 2.392732858657837, 2.3902859687805176], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4865330356015242, "forward_m_s": 0.5622103668869096, "normal_height_m": 0.13227604288648354, "ground_tilt_rad": 2.3866850822083067e-05}
{"seq": 123, "t_s": 1.984, "x_m": 0.5051694512367249, "y_m": 0.00031841101008467376, "z_m": 0.0885162502527237, "vx_m_s": 0.5609331727027893, "vy_m_s": 0.00013199239037930965, "vz_m_s": -0.03632115200161934, "tilt_rad": 0.08749489681979743, "wheel_position_rad": [2.39021635055542, 2.3887298107147217, 2.392833709716797, 2.390362024307251], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4955324294239281, "forward_m_s": 0.5619642496104519, "normal_height_m": 0.13220783793268912, "ground_tilt_rad": 0.00022843847534175768}
{"seq": 124, "t_s": 2.0, "x_m": 0.5141339898109436, "y_m": 0.00032060695230029523, "z_m": 0.0877542644739151, "vx_m_s": 0.5591443181037903, "vy_m_s": 0.00013019955076742917, "vz_m_s": -0.039650820195674896, "tilt_rad": 0.08738034820646592, "wheel_position_rad": [2.3902945518493652, 2.388791084289551, 2.3929412364959717, 2.390455961227417], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5045292666589191, "forward_m_s": 0.5604724018478282, "normal_height_m": 0.13223006275764476, "ground_tilt_rad": 0.00011391501513384705}
{"seq": 125, "t_s": 2.016, "x_m": 0.5230591297149658, "y_m": 0.0003228832792956382, "z_m": 0.08696106821298599, "vx_m_s": 0.5572628974914551, "vy_m_s": 0.0001302856398979202, "vz_m_s": -0.04080520570278168, "tilt_rad": 0.08735305176225622, "wheel_position_rad": [2.3903727531433105, 2.3888516426086426, 2.3930468559265137, 2.3905506134033203], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.513489575320299, "forward_m_s": 0.5586987519352283, "normal_height_m": 0.1322177620454228, "ground_tilt_rad": 8.670944984966881e-05}
{"seq": 126, "t_s": 2.032, "x_m": 0.5319312214851379, "y_m": 0.00032504028058610857, "z_m": 0.08619523048400879, "vx_m_s": 0.5551934838294983, "vy_m_s": 0.00012994642020203173, "vz_m_s": -0.043249595910310745, "tilt_rad": 0.0875330423677803, "wheel_position_rad": [2.3904523849487305, 2.3889129161834717, 2.3931548595428467, 2.3906445503234863], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5223946532588211, "forward_m_s": 0.5568502556611308, "normal_height_m": 0.1322280923081718, "ground_tilt_rad": 0.00026663282217125224}
{"seq": 127, "t_s": 2.048, "x_m": 0.5408303737640381, "y_m": 0.0003271496680099517, "z_m": 0.08546638488769531, "vx_m_s": 0.5517001152038574, "vy_m_s": 0.0001255414535989985, "vz_m_s": -0.050470445305109024, "tilt_rad": 0.0871398522076781, "wheel_position_rad": [2.390557289123535, 2.3889622688293457, 2.3932738304138184, 2.3907511234283447], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5313234646558676, "forward_m_s": 0.5539995188500598, "normal_height_m": 0.13227763241608886, "ground_tilt_rad": 0.00012673917042489743}
{"seq": 128, "t_s": 2.064, "x_m": 0.549646258354187, "y_m": 0.0003292652836535126, "z_m": 0.08467911928892136, "vx_m_s": 0.5517940521240234, "vy_m_s": 0.00013187667354941368, "vz_m_s": -0.05768826603889465, "tilt_rad": 0.08726291306067886, "wheel_position_rad": [2.3906233310699463, 2.3890223503112793, 2.3933653831481934, 2.390845775604248], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5401744168615634, "forward_m_s": 0.5547221728389569, "normal_height_m": 0.1322617175700323, "ground_tilt_rad": 7.0273155774264215e-06}
{"seq": 129, "t_s": 2.08, "x_m": 0.5584402084350586, "y_m": 0.00033118532155640423, "z_m": 0.08391301333904266, "vx_m_s": 0.5485257506370544, "vy_m_s": 0.00012882298324257135, "vz_m_s": -0.03855607658624649, "tilt_rad": 0.08729569956268007, "wheel_position_rad": [2.390721082687378, 2.389073610305786, 2.39347505569458, 2.3909575939178467], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5490016738404963, "forward_m_s": 0.5497988280437385, "normal_height_m": 0.13226497013557081, "ground_tilt_rad": 2.958047145177238e-05}
{"seq": 130, "t_s": 2.096, "x_m": 0.5671910047531128, "y_m": 0.00033328161225654185, "z_m": 0.08314124494791031, "vx_m_s": 0.5464069247245789, "vy_m_s": 0.00012713042087852955, "vz_m_s": -0.03692827746272087, "tilt_rad": 0.08744581579505632, "wheel_position_rad": [2.390801429748535, 2.3891372680664062, 2.3935842514038086, 2.391056776046753], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5577864347839808, "forward_m_s": 0.547546192861896, "normal_height_m": 0.13225882070890344, "ground_tilt_rad": 0.00017941352248066435}
{"seq": 131, "t_s": 2.112, "x_m": 0.5759516358375549, "y_m": 0.00033557036658748984, "z_m": 0.08236367255449295, "vx_m_s": 0.5447720885276794, "vy_m_s": 0.00012774420611094683, "vz_m_s": -0.039445843547582626, "tilt_rad": 0.08719456369794877, "wheel_position_rad": [2.3908753395080566, 2.3891983032226562, 2.393690824508667, 2.3911430835723877], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5665814989217283, "forward_m_s": 0.5461369980523387, "normal_height_m": 0.13224774652230134, "ground_tilt_rad": 7.22196656894343e-05}
{"seq": 132, "t_s": 2.128, "x_m": 0.5846333503723145, "y_m": 0.00033766526030376554, "z_m": 0.0816243439912796, "vx_m_s": 0.543904185295105, "vy_m_s": 0.00013142456009518355, "vz_m_s": -0.06225506216287613, "tilt_rad": 0.08740489769874145, "wheel_position_rad": [2.390942096710205, 2.38926100730896, 2.393789529800415, 2.3912346363067627], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5752946136416631, "forward_m_s": 0.547260351843501, "normal_height_m": 0.13226789260608052, "ground_tilt_rad": 0.00013860835240690314}
{"seq": 133, "t_s": 2.144, "x_m": 0.5933371186256409, "y_m": 0.00033994659315794706, "z_m": 0.0808396115899086, "vx_m_s": 0.5400187373161316, "vy_m_s": 0.00012441333092283458, "vz_m_s": -0.0624716654419899, "tilt_rad": 0.08710426215002962, "wheel_position_rad": [2.391031265258789, 2.3893234729766846, 2.3939146995544434, 2.391319990158081], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5840336553643458, "forward_m_s": 0.5434085673868092, "normal_height_m": 0.13224472973523604, "ground_tilt_rad": 0.00016245084664865778}
{"seq": 134, "t_s": 2.16, "x_m": 0.6019536256790161, "y_m": 0.00034178467467427254, "z_m": 0.08010800927877426, "vx_m_s": 0.5387573838233948, "vy_m_s": 0.00012905534822493792, "vz_m_s": -0.051813364028930664, "tilt_rad": 0.08734212138607479, "wheel_position_rad": [2.39108943939209, 2.3894007205963135, 2.3940317630767822, 2.3914105892181396], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5926811373498112, "forward_m_s": 0.5412230815488417, "normal_height_m": 0.13226688946389972, "ground_tilt_rad": 7.594493718935827e-05}
{"seq": 135, "t_s": 2.176, "x_m": 0.6105413436889648, "y_m": 0.00034375087125226855, "z_m": 0.0793619379401207, "vx_m_s": 0.5373958945274353, "vy_m_s": 0.000130185202579014, "vz_m_s": -0.042228829115629196, "tilt_rad": 0.08756027165762327, "wheel_position_rad": [2.391162872314453, 2.3894662857055664, 2.394136428833008, 2.391509532928467], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6013012009016923, "forward_m_s": 0.5390314258714386, "normal_height_m": 0.13227212609359934, "ground_tilt_rad": 0.00029385934694435556}
{"seq": 136, "t_s": 2.192, "x_m": 0.6191225647926331, "y_m": 0.0003458801074884832, "z_m": 0.07857915014028549, "vx_m_s": 0.5355218052864075, "vy_m_s": 0.00012972767581231892, "vz_m_s": -0.04833049327135086, "tilt_rad": 0.08754120392628961, "wheel_position_rad": [2.391237497329712, 2.3895270824432373, 2.3942415714263916, 2.391598701477051], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6099179923204279, "forward_m_s": 0.5376962631772646, "normal_height_m": 0.1322402197366447, "ground_tilt_rad": 0.00027480574382321036}
{"seq": 137, "t_s": 2.208, "x_m": 0.6276834011077881, "y_m": 0.00034781781141646206, "z_m": 0.07780452817678452, "vx_m_s": 0.5352596044540405, "vy_m_s": 0.0001369965320918709, "vz_m_s": -0.07343187183141708, "tilt_rad": 0.08741853345815807, "wheel_position_rad": [2.3912901878356934, 2.3895938396453857, 2.3943488597869873, 2.3916730880737305], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6185137648213942, "forward_m_s": 0.539622789390618, "normal_height_m": 0.13221467149116808, "ground_tilt_rad": 0.00015213999776671837}
{"seq": 138, "t_s": 2.224, "x_m": 0.6362518072128296, "y_m": 0.00034999437048099935, "z_m": 0.07707831263542175, "vx_m_s": 0.5311554670333862, "vy_m_s": 0.0001288102357648313, "vz_m_s": -0.03759608417749405, "tilt_rad": 0.08690965916329549, "wheel_position_rad": [2.3914132118225098, 2.3896572589874268, 2.394490957260132, 2.3917880058288574], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6271128594092359, "forward_m_s": 0.5324109747619973, "normal_height_m": 0.13223800521743911, "ground_tilt_rad": 0.0003568484339446507}
{"seq": 139, "t_s": 2.24, "x_m": 0.6447315812110901, "y_m": 0.0003521164762787521, "z_m": 0.07636044174432755, "vx_m_s": 0.5281685590744019, "vy_m_s": 0.00012350900215096772, "vz_m_s": -0.06659094989299774, "tilt_rad": 0.0869617764493423, "wheel_position_rad": [2.3914923667907715, 2.389711618423462, 2.394596576690674, 2.391871929168701], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6356229318780295, "forward_m_s": 0.5319625019468723, "normal_height_m": 0.13226192704296735, "ground_tilt_rad": 0.0003047471297526779}
{"seq": 140, "t_s": 2.2560000000000002, "x_m": 0.6531567573547363, "y_m": 0.0003542102058418095, "z_m": 0.0756882056593895, "vx_m_s": 0.526766300201416, "vy_m_s": 0.0001279065036214888, "vz_m_s": -0.023803705349564552, "tilt_rad": 0.08723556849713177, "wheel_position_rad": [2.3915724754333496, 2.389784336090088, 2.3947060108184814, 2.3919901847839355], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6440746369181035, "forward_m_s": 0.5268364250139431, "normal_height_m": 0.13232655150386544, "ground_tilt_rad": 3.151044588998744e-05}
{"seq": 141, "t_s": 2.2720000000000002, "x_m": 0.6615868210792542, "y_m": 0.00035599851980805397, "z_m": 0.07491020858287811, "vx_m_s": 0.5251718759536743, "vy_m_s": 0.0001318657014053315, "vz_m_s": -0.05543515831232071, "tilt_rad": 0.08717267171949429, "wheel_position_rad": [2.391615629196167, 2.3898589611053467, 2.3948304653167725, 2.3920493125915527], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6525404286181026, "forward_m_s": 0.5280049308089905, "normal_height_m": 0.13228624340643436, "ground_tilt_rad": 9.385036778673486e-05}
{"seq": 142, "t_s": 2.2880000000000003, "x_m": 0.6699715256690979, "y_m": 0.0003577900642994791, "z_m": 0.07414251565933228, "vx_m_s": 0.5239805579185486, "vy_m_s": 0.00013319938443601131, "vz_m_s": -0.04034809023141861, "tilt_rad": 0.08724650109189594, "wheel_position_rad": [2.391669750213623, 2.3899402618408203, 2.3949477672576904, 2.392127275466919], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6609601357225241, "forward_m_s": 0.5255032214741817, "normal_height_m": 0.132252246942483, "ground_tilt_rad": 1.996742811657825e-05}
{"seq": 143, "t_s": 2.3040000000000003, "x_m": 0.6783261299133301, "y_m": 0.0003598783223424107, "z_m": 0.07343432307243347, "vx_m_s": 0.5220768451690674, "vy_m_s": 0.00012959026207681745, "vz_m_s": -0.04757385328412056, "tilt_rad": 0.08730114849418313, "wheel_position_rad": [2.391744613647461, 2.3900091648101807, 2.3950648307800293, 2.3922154903411865], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6693446712262026, "forward_m_s": 0.5242365196722357, "normal_height_m": 0.1322749009804553, "ground_tilt_rad": 3.469080576806052e-05}
{"seq": 144, "t_s": 2.32, "x_m": 0.6866612434387207, "y_m": 0.00036206995719112456, "z_m": 0.07268889993429184, "vx_m_s": 0.5190172791481018, "vy_m_s": 0.0001277445408049971, "vz_m_s": -0.035708941519260406, "tilt_rad": 0.08724923203379388, "wheel_position_rad": [2.391843318939209, 2.3900623321533203, 2.3951733112335205, 2.392320156097412], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6777130350354555, "forward_m_s": 0.5201545010261863, "normal_height_m": 0.13225876741259518, "ground_tilt_rad": 1.7316784254420433e-05}
{"seq": 145, "t_s": 2.336, "x_m": 0.6949517726898193, "y_m": 0.00036418766831047833, "z_m": 0.07196497917175293, "vx_m_s": 0.5170323252677917, "vy_m_s": 0.00012608424003701657, "vz_m_s": -0.03828296437859535, "tilt_rad": 0.08732572708531368, "wheel_position_rad": [2.3919239044189453, 2.3901214599609375, 2.3952760696411133, 2.3924198150634766], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6860351101715241, "forward_m_s": 0.5184014413688196, "normal_height_m": 0.13226016862176607, "ground_tilt_rad": 5.930209675108447e-05}
{"seq": 146, "t_s": 2.352, "x_m": 0.7032341957092285, "y_m": 0.0003665441763587296, "z_m": 0.0712556317448616, "vx_m_s": 0.5152748823165894, "vy_m_s": 0.0001257659459952265, "vz_m_s": -0.04208733141422272, "tilt_rad": 0.08717266611701936, "wheel_position_rad": [2.392000913619995, 2.3901822566986084, 2.395383596420288, 2.3925089836120605], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6943478397726693, "forward_m_s": 0.5169822584533079, "normal_height_m": 0.13227538120599883, "ground_tilt_rad": 9.392499662383496e-05}
{"seq": 147, "t_s": 2.368, "x_m": 0.7114536166191101, "y_m": 0.00035885715624317527, "z_m": 0.07053390890359879, "vx_m_s": 0.5144639015197754, "vy_m_s": 0.0012018922716379166, "vz_m_s": -0.052328921854496, "tilt_rad": 0.08733392948385651, "wheel_position_rad": [2.392069101333618, 2.3902428150177, 2.3954787254333496, 2.392606735229492], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7025988855947661, "forward_m_s": 0.5170669771050069, "normal_height_m": 0.13227277447239746, "ground_tilt_rad": 0.00011414744579531001}
{"seq": 148, "t_s": 2.384, "x_m": 0.7196892499923706, "y_m": 0.0003828337648883462, "z_m": 0.06983495503664017, "vx_m_s": 0.5114920139312744, "vy_m_s": 0.00012875255197286606, "vz_m_s": -0.031087521463632584, "tilt_rad": 0.08703028049068078, "wheel_position_rad": [2.3921093940734863, 2.3903586864471436, 2.395658016204834, 2.392653465270996], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7108640977400568, "forward_m_s": 0.5122550884179515, "normal_height_m": 0.1322942630795665, "ground_tilt_rad": 0.000267501190357997}
{"seq": 149, "t_s": 2.4, "x_m": 0.7278053164482117, "y_m": 0.0003608795814216137, "z_m": 0.0691145807504654, "vx_m_s": 0.5099350810050964, "vy_m_s": -0.0008681919425725937, "vz_m_s": -0.0413912795484066, "tilt_rad": 0.08759294846320902, "wheel_position_rad": [2.3921291828155518, 2.3904693126678467, 2.3958046436309814, 2.3926961421966553], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7190120648686937, "forward_m_s": 0.5116021117805792, "normal_height_m": 0.13228399183518574, "ground_tilt_rad": 0.00034554818222565703}
{"seq": 150, "t_s": 2.416, "x_m": 0.7359780073165894, "y_m": 0.0003592484281398356, "z_m": 0.06835555285215378, "vx_m_s": 0.5082087516784668, "vy_m_s": 0.000259116233792156, "vz_m_s": -0.026593932881951332, "tilt_rad": 0.08730116103314155, "wheel_position_rad": [2.3921892642974854, 2.3905370235443115, 2.3959338665008545, 2.392793893814087], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.727219809821158, "forward_m_s": 0.508592677918821, "normal_height_m": 0.13224014921006444, "ground_tilt_rad": 0.00015411472437289701}
{"seq": 151, "t_s": 2.432, "x_m": 0.7441056370735168, "y_m": 0.00034690627944655716, "z_m": 0.06769078969955444, "vx_m_s": 0.5059165358543396, "vy_m_s": 0.0003406918840482831, "vz_m_s": -0.02733542211353779, "tilt_rad": 0.0871371291550158, "wheel_position_rad": [2.3922698497772217, 2.3905954360961914, 2.39605712890625, 2.3928911685943604], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7353744494193779, "forward_m_s": 0.5063738097126618, "normal_height_m": 0.1322862852902012, "ground_tilt_rad": 0.0003208300413463022}
{"seq": 152, "t_s": 2.448, "x_m": 0.7521602511405945, "y_m": 0.0003718797815963626, "z_m": 0.06696975976228714, "vx_m_s": 0.5036870241165161, "vy_m_s": 0.00027411687187850475, "vz_m_s": -0.027831997722387314, "tilt_rad": 0.08738578558988473, "wheel_position_rad": [2.392348051071167, 2.3906545639038086, 2.3961663246154785, 2.3929874897003174], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7434612551479016, "forward_m_s": 0.5041960613561284, "normal_height_m": 0.13227000496109198, "ground_tilt_rad": 0.00013637177202449196}
{"seq": 153, "t_s": 2.464, "x_m": 0.7602173686027527, "y_m": 0.00038200378185138106, "z_m": 0.06628471612930298, "vx_m_s": 0.5024023056030273, "vy_m_s": 0.00021215417655184865, "vz_m_s": -0.04848598688840866, "tilt_rad": 0.08730386751114909, "wheel_position_rad": [2.3923678398132324, 2.390761613845825, 2.3963160514831543, 2.393030881881714], "contacts": 2, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7515474183322535, "forward_m_s": 0.5047163453509173, "normal_height_m": 0.13228979218277115, "ground_tilt_rad": 3.988854652576433e-05}
{"seq": 154, "t_s": 2.48, "x_m": 0.7682275772094727, "y_m": 0.000375243165763095, "z_m": 0.06553695350885391, "vx_m_s": 0.4999859035015106, "vy_m_s": 0.000627927714958787, "vz_m_s": -0.054080426692962646, "tilt_rad": 0.08738032644873948, "wheel_position_rad": [2.3924777507781982, 2.3907816410064697, 2.3963849544525146, 2.3931593894958496], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7595923174834609, "forward_m_s": 0.5027967259453514, "normal_height_m": 0.132243010705531, "ground_tilt_rad": 0.00013574762718467244}
{"seq": 155, "t_s": 2.496, "x_m": 0.7762348651885986, "y_m": 0.00037342088762670755, "z_m": 0.06484762579202652, "vx_m_s": 0.4980810582637787, "vy_m_s": 0.0006290357559919357, "vz_m_s": -0.02954724431037903, "tilt_rad": 0.08717814338860784, "wheel_position_rad": [2.3925280570983887, 2.3908822536468506, 2.39654278755188, 2.393228054046631], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7676292141835166, "forward_m_s": 0.49876092148631973, "normal_height_m": 0.132254187219995, "ground_tilt_rad": 0.00014321663558240677}
{"seq": 156, "t_s": 2.512, "x_m": 0.7841632962226868, "y_m": 0.00039989265496842563, "z_m": 0.06415995210409164, "vx_m_s": 0.4963001310825348, "vy_m_s": 0.0002659750753082335, "vz_m_s": -0.028285592794418335, "tilt_rad": 0.08743758789756917, "wheel_position_rad": [2.3926353454589844, 2.390911340713501, 2.3966152667999268, 2.3933568000793457], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7755874098549012, "forward_m_s": 0.4968768110957148, "normal_height_m": 0.1322601386336566, "ground_tilt_rad": 0.0002145501369053853}
{"seq": 157, "t_s": 2.528, "x_m": 0.7921138405799866, "y_m": 0.00038746435893699527, "z_m": 0.06346467137336731, "vx_m_s": 0.49445685744285583, "vy_m_s": 6.71937596052885e-05, "vz_m_s": -0.03147681802511215, "tilt_rad": 0.08718086358785078, "wheel_position_rad": [2.392756462097168, 2.390930652618408, 2.396681547164917, 2.3934919834136963], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7835682976990909, "forward_m_s": 0.49531868527399053, "normal_height_m": 0.1322604392547323, "ground_tilt_rad": 8.681961670936956e-05}
{"seq": 158, "t_s": 2.544, "x_m": 0.8000040054321289, "y_m": 0.00037707234150730073, "z_m": 0.06279075145721436, "vx_m_s": 0.4917392432689667, "vy_m_s": 0.001206686720252037, "vz_m_s": -0.05038018152117729, "tilt_rad": 0.08720549366922539, "wheel_position_rad": [2.392878770828247, 2.3909413814544678, 2.3967583179473877, 2.3936309814453125], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7914871740827097, "forward_m_s": 0.4942589491284317, "normal_height_m": 0.13227675698541225, "ground_tilt_rad": 0.0001512416801421454}
{"seq": 159, "t_s": 2.56, "x_m": 0.8078292608261108, "y_m": 0.0003893659159075469, "z_m": 0.06212504953145981, "vx_m_s": 0.490342378616333, "vy_m_s": 7.303792517632246e-05, "vz_m_s": -0.034491389989852905, "tilt_rad": 0.08756025097204506, "wheel_position_rad": [2.392984390258789, 2.3909919261932373, 2.3968241214752197, 2.3937485218048096], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.799340671763196, "forward_m_s": 0.49148260054025106, "normal_height_m": 0.1322956042025187, "ground_tilt_rad": 0.000296096285284868}
{"seq": 160, "t_s": 2.576, "x_m": 0.8156843185424805, "y_m": 0.0003950546379201114, "z_m": 0.06143925338983536, "vx_m_s": 0.4888065457344055, "vy_m_s": 0.00011410002480261028, "vz_m_s": -0.04470236971974373, "tilt_rad": 0.08732024933724719, "wheel_position_rad": [2.393059730529785, 2.3910534381866455, 2.396937370300293, 2.3938395977020264], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8072256096855449, "forward_m_s": 0.4908425574886598, "normal_height_m": 0.13229703111185656, "ground_tilt_rad": 5.3797034710064325e-05}
{"seq": 161, "t_s": 2.592, "x_m": 0.8234837055206299, "y_m": 0.0003981209883932024, "z_m": 0.06074540317058563, "vx_m_s": 0.4869436025619507, "vy_m_s": 0.00013139219663571566, "vz_m_s": -0.05007806047797203, "tilt_rad": 0.08732024675923357, "wheel_position_rad": [2.393125534057617, 2.391122817993164, 2.3970563411712646, 2.393923044204712], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8150557906727574, "forward_m_s": 0.48945522569822925, "normal_height_m": 0.13228558256722722, "ground_tilt_rad": 5.4493831720577286e-05}
{"seq": 162, "t_s": 2.608, "x_m": 0.8312716484069824, "y_m": 0.0004001143097411841, "z_m": 0.06005197390913963, "vx_m_s": 0.4841116964817047, "vy_m_s": 0.00013458746252581477, "vz_m_s": -0.039497531950473785, "tilt_rad": 0.08713160524305746, "wheel_position_rad": [2.3931970596313477, 2.39119815826416, 2.3971874713897705, 2.3940019607543945], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8228745344275075, "forward_m_s": 0.4857119420531175, "normal_height_m": 0.13227355596020945, "ground_tilt_rad": 0.00013509268818247941}
{"seq": 163, "t_s": 2.624, "x_m": 0.8389994502067566, "y_m": 0.0004020078922621906, "z_m": 0.05937602370977402, "vx_m_s": 0.4829000234603882, "vy_m_s": 0.00013100518845021725, "vz_m_s": -0.03596173971891403, "tilt_rad": 0.08721914049191329, "wheel_position_rad": [2.3932652473449707, 2.3912758827209473, 2.397307872772217, 2.3940889835357666], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8306318425500324, "forward_m_s": 0.48419671521531815, "normal_height_m": 0.13227370026109336, "ground_tilt_rad": 4.771660345343038e-05}
{"seq": 164, "t_s": 2.64, "x_m": 0.8466839790344238, "y_m": 0.0004040470812469721, "z_m": 0.05871330574154854, "vx_m_s": 0.48155122995376587, "vy_m_s": 0.00013272417709231377, "vz_m_s": -0.03531773388385773, "tilt_rad": 0.08742668675194445, "wheel_position_rad": [2.39332914352417, 2.3913395404815674, 2.3974032402038574, 2.394181966781616], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8383448891022407, "forward_m_s": 0.48279692546831227, "normal_height_m": 0.13228325495245813, "ground_tilt_rad": 0.0001603255122517727}
{"seq": 165, "t_s": 2.656, "x_m": 0.8543856739997864, "y_m": 0.0004062482330482453, "z_m": 0.05799555033445358, "vx_m_s": 0.4788786768913269, "vy_m_s": 0.0001305944169871509, "vz_m_s": -0.02607148326933384, "tilt_rad": 0.08716717413932927, "wheel_position_rad": [2.3934173583984375, 2.3914029598236084, 2.3975205421447754, 2.394277572631836], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8460798332986712, "forward_m_s": 0.4793286784372019, "normal_height_m": 0.13223947776650555, "ground_tilt_rad": 9.953345039125978e-05}
{"seq": 166, "t_s": 2.672, "x_m": 0.8620333671569824, "y_m": 0.0004083600069861859, "z_m": 0.05735695734620094, "vx_m_s": 0.47708389163017273, "vy_m_s": 0.00013033727009315044, "vz_m_s": -0.039664655923843384, "tilt_rad": 0.08712338980547668, "wheel_position_rad": [2.393497943878174, 2.3914642333984375, 2.3976337909698486, 2.3943662643432617], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.853754081720707, "forward_m_s": 0.4787254459348278, "normal_height_m": 0.13226985519479129, "ground_tilt_rad": 0.0001432603543675902}
{"seq": 167, "t_s": 2.688, "x_m": 0.8696137070655823, "y_m": 0.0004103606042917818, "z_m": 0.05668751150369644, "vx_m_s": 0.4756542444229126, "vy_m_s": 0.00013231612683739513, "vz_m_s": -0.038221027702093124, "tilt_rad": 0.0874348656698394, "wheel_position_rad": [2.393564224243164, 2.391526699066162, 2.39772891998291, 2.394460916519165], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8613639221970203, "forward_m_s": 0.4771754184768955, "normal_height_m": 0.13226362695084248, "ground_tilt_rad": 0.0001685284092879332}
{"seq": 168, "t_s": 2.704, "x_m": 0.8772006034851074, "y_m": 0.0004124550905544311, "z_m": 0.05602240562438965, "vx_m_s": 0.4727137088775635, "vy_m_s": 0.00013259146362543106, "vz_m_s": -0.03229781985282898, "tilt_rad": 0.08738029997127975, "wheel_position_rad": [2.3936562538146973, 2.391585350036621, 2.3978464603424072, 2.394561290740967], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8689799159820393, "forward_m_s": 0.47372983097751703, "normal_height_m": 0.13226229359280067, "ground_tilt_rad": 0.00011403307625035721}
{"seq": 169, "t_s": 2.72, "x_m": 0.8847537040710449, "y_m": 0.00041440341738052666, "z_m": 0.05528610944747925, "vx_m_s": 0.4708579182624817, "vy_m_s": 0.00012903469905722886, "vz_m_s": -0.03805408254265785, "tilt_rad": 0.08735846361884704, "wheel_position_rad": [2.3937361240386963, 2.3916375637054443, 2.3979451656341553, 2.394656181335449], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8765684471800848, "forward_m_s": 0.4723827935561868, "normal_height_m": 0.13218709533675246, "ground_tilt_rad": 9.215932479957547e-05}
{"seq": 170, "t_s": 2.736, "x_m": 0.892281174659729, "y_m": 0.00041654432425275445, "z_m": 0.054628655314445496, "vx_m_s": 0.4690624177455902, "vy_m_s": 0.00012870073260273784, "vz_m_s": -0.043558042496442795, "tilt_rad": 0.08727379856814602, "wheel_position_rad": [2.3938112258911133, 2.3916995525360107, 2.39805269241333, 2.394746780395508], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8841245743738605, "forward_m_s": 0.471073827178664, "normal_height_m": 0.13218820530535363, "ground_tilt_rad": 9.506847417043452e-06}
{"seq": 171, "t_s": 2.7520000000000002, "x_m": 0.8997692465782166, "y_m": 0.0004186972219031304, "z_m": 0.05408484861254692, "vx_m_s": 0.46692463755607605, "vy_m_s": 0.00012923456961289048, "vz_m_s": -0.025142459198832512, "tilt_rad": 0.08725466826637082, "wheel_position_rad": [2.393897533416748, 2.391770124435425, 2.398174524307251, 2.3948514461517334], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8916315477950026, "forward_m_s": 0.46733915804774984, "normal_height_m": 0.1322990964219392, "ground_tilt_rad": 1.3614369902063702e-05}
{"seq": 172, "t_s": 2.7680000000000002, "x_m": 0.9072255492210388, "y_m": 0.0004208578902762383, "z_m": 0.05339021608233452, "vx_m_s": 0.46542710065841675, "vy_m_s": 0.00012941661407239735, "vz_m_s": -0.06041990965604782, "tilt_rad": 0.08726013280290015, "wheel_position_rad": [2.393967628479004, 2.391826868057251, 2.398272752761841, 2.3949356079101562], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.899120018169257, "forward_m_s": 0.4689219521269472, "normal_height_m": 0.13225696677320603, "ground_tilt_rad": 9.910706186907487e-06}
{"seq": 173, "t_s": 2.7840000000000003, "x_m": 0.9146497845649719, "y_m": 0.000414741545682773, "z_m": 0.052720293402671814, "vx_m_s": 0.4632469415664673, "vy_m_s": -3.1916541047394276e-05, "vz_m_s": -0.04188443720340729, "tilt_rad": 0.0872710737315302, "wheel_position_rad": [2.3940491676330566, 2.391892910003662, 2.398381471633911, 2.395029067993164], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9065743896649979, "forward_m_s": 0.465134616329762, "normal_height_m": 0.13223665809732854, "ground_tilt_rad": 7.390365011013538e-05}
{"seq": 174, "t_s": 2.8000000000000003, "x_m": 0.9220249056816101, "y_m": 0.0004000121261924505, "z_m": 0.052122753113508224, "vx_m_s": 0.4612559974193573, "vy_m_s": 0.00037055008579045534, "vz_m_s": -0.024914605543017387, "tilt_rad": 0.08745125555240277, "wheel_position_rad": [2.394118309020996, 2.39197039604187, 2.398507595062256, 2.3951218128204346], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9139735252869011, "forward_m_s": 0.46167223004355024, "normal_height_m": 0.1322841757881421, "ground_tilt_rad": 0.0003032687486130889}
{"seq": 175, "t_s": 2.816, "x_m": 0.9294238686561584, "y_m": 0.00043100034235976636, "z_m": 0.051454074680805206, "vx_m_s": 0.45940205454826355, "vy_m_s": 0.00018608508980832994, "vz_m_s": -0.027820289134979248, "tilt_rad": 0.08710147479847505, "wheel_position_rad": [2.3941562175750732, 2.392070770263672, 2.3986570835113525, 2.395174741744995], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9214026121389848, "forward_m_s": 0.4600785889964487, "normal_height_m": 0.13226290399236423, "ground_tilt_rad": 0.00017141594567212485}
{"seq": 176, "t_s": 2.832, "x_m": 0.9367228746414185, "y_m": 0.0004363751213531941, "z_m": 0.05078376829624176, "vx_m_s": 0.45769649744033813, "vy_m_s": -2.58107902482152e-05, "vz_m_s": -0.035278718918561935, "tilt_rad": 0.08742393482088522, "wheel_position_rad": [2.394191265106201, 2.3921639919281006, 2.3987936973571777, 2.395231246948242], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.928732264253656, "forward_m_s": 0.45902956703576014, "normal_height_m": 0.13223129861393004, "ground_tilt_rad": 0.00017621278710413222}
{"seq": 177, "t_s": 2.848, "x_m": 0.9440523386001587, "y_m": 0.0004190792387817055, "z_m": 0.05014459043741226, "vx_m_s": 0.45558953285217285, "vy_m_s": 0.00018664498929865658, "vz_m_s": -0.03670705109834671, "tilt_rad": 0.087139815627097, "wheel_position_rad": [2.394308090209961, 2.392190933227539, 2.3988728523254395, 2.3953588008880615], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9360895454102416, "forward_m_s": 0.4570551074359824, "normal_height_m": 0.13223335789509266, "ground_tilt_rad": 0.00016993575824795492}
{"seq": 178, "t_s": 2.864, "x_m": 0.9512933492660522, "y_m": 0.0004395857686176896, "z_m": 0.04955102503299713, "vx_m_s": 0.4528236389160156, "vy_m_s": 0.0002792275045067072, "vz_m_s": -0.03705719858407974, "tilt_rad": 0.08741029401437213, "wheel_position_rad": [2.394453525543213, 2.3922011852264404, 2.398927688598633, 2.395510196685791], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9433547344781217, "forward_m_s": 0.4543302559254887, "normal_height_m": 0.1322731468490733, "ground_tilt_rad": 0.0001598275239465473}
{"seq": 179, "t_s": 2.88, "x_m": 0.9585161209106445, "y_m": 0.0004334026016294956, "z_m": 0.04886141046881676, "vx_m_s": 0.4515831768512726, "vy_m_s": 0.00014731602277606726, "vz_m_s": -0.034500811249017715, "tilt_rad": 0.08756839431975957, "wheel_position_rad": [2.3945093154907227, 2.3922767639160156, 2.399040460586548, 2.3955907821655273], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9506101251655427, "forward_m_s": 0.4528717103564697, "normal_height_m": 0.1322156625038911, "ground_tilt_rad": 0.0003021822666741367}
{"seq": 180, "t_s": 2.896, "x_m": 0.9657514095306396, "y_m": 0.0004349899245426059, "z_m": 0.04824027791619301, "vx_m_s": 0.45016220211982727, "vy_m_s": 0.0001299245050176978, "vz_m_s": -0.047455452382564545, "tilt_rad": 0.08729018345449929, "wheel_position_rad": [2.3945655822753906, 2.3923535346984863, 2.3991615772247314, 2.395660638809204], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.957872016596914, "forward_m_s": 0.4525852142329052, "normal_height_m": 0.1322274905018245, "ground_tilt_rad": 2.9267557297721754e-05}
{"seq": 181, "t_s": 2.912, "x_m": 0.9729179739952087, "y_m": 0.00043813796946778893, "z_m": 0.04766632989048958, "vx_m_s": 0.44783106446266174, "vy_m_s": 0.0001210537739098072, "vz_m_s": -0.03012937493622303, "tilt_rad": 0.08737209927744308, "wheel_position_rad": [2.3946373462677, 2.3924403190612793, 2.399294137954712, 2.3957440853118896], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9650613329865292, "forward_m_s": 0.44875288010957554, "normal_height_m": 0.132280333770497, "ground_tilt_rad": 0.0001058378720943277}
{"seq": 182, "t_s": 2.928, "x_m": 0.9800639152526855, "y_m": 0.00042648299131542444, "z_m": 0.04701012000441551, "vx_m_s": 0.4462747275829315, "vy_m_s": 0.0010311850346624851, "vz_m_s": -0.036842916160821915, "tilt_rad": 0.08736392937547992, "wheel_position_rad": [2.394680976867676, 2.392516613006592, 2.399421215057373, 2.395820140838623], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9722372742401219, "forward_m_s": 0.4477875892334406, "normal_height_m": 0.13224943077908116, "ground_tilt_rad": 0.0001729356092564095}
{"seq": 183, "t_s": 2.944, "x_m": 0.987233579158783, "y_m": 0.00046753580681979656, "z_m": 0.046374522149562836, "vx_m_s": 0.44350165128707886, "vy_m_s": -0.0002472107298672199, "vz_m_s": -0.04868294671177864, "tilt_rad": 0.08681623796510152, "wheel_position_rad": [2.394746780395508, 2.3926196098327637, 2.399578094482422, 2.395862579345703], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9794350514136042, "forward_m_s": 0.4460569919869319, "normal_height_m": 0.1322411289489454, "ground_tilt_rad": 0.00051251520696336}
{"seq": 184, "t_s": 2.96, "x_m": 0.994255781173706, "y_m": 0.00041295637493021786, "z_m": 0.04576849937438965, "vx_m_s": 0.4424187242984772, "vy_m_s": 0.0003614500164985657, "vz_m_s": -0.04323653504252434, "tilt_rad": 0.08739942917714458, "wheel_position_rad": [2.394775629043579, 2.392719030380249, 2.399700880050659, 2.39593243598938], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9864833501948921, "forward_m_s": 0.44450349980812304, "normal_height_m": 0.13224943750572976, "ground_tilt_rad": 0.00034500298557607725}
{"seq": 185, "t_s": 2.976, "x_m": 1.0013501644134521, "y_m": 0.0004640397964976728, "z_m": 0.04520445689558983, "vx_m_s": 0.43978211283683777, "vy_m_s": -1.9441358745098114e-06, "vz_m_s": -0.03250496834516525, "tilt_rad": 0.08696993177887186, "wheel_position_rad": [2.394845962524414, 2.3928351402282715, 2.3998610973358154, 2.395977735519409], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9935998967057391, "forward_m_s": 0.4409416037827556, "normal_height_m": 0.1323058576194475, "ground_tilt_rad": 0.0003410450576896612}
{"seq": 186, "t_s": 2.992, "x_m": 1.0082813501358032, "y_m": 0.00039004540303722024, "z_m": 0.04461728036403656, "vx_m_s": 0.4376416802406311, "vy_m_s": 0.0002986826002597809, "vz_m_s": -0.01387240830808878, "tilt_rad": 0.08783222465542326, "wheel_position_rad": [2.39486026763916, 2.3929548263549805, 2.4000277519226074, 2.396029472351074], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.000555882980566, "forward_m_s": 0.43718538156947, "normal_height_m": 0.13232500811162368, "ground_tilt_rad": 0.0008142363994314628}
{"seq": 187, "t_s": 3.008, "x_m": 1.0154101848602295, "y_m": 0.000494118663482368, "z_m": 0.04388534650206566, "vx_m_s": 0.43569156527519226, "vy_m_s": -0.00014925585128366947, "vz_m_s": -0.04568980261683464, "tilt_rad": 0.08648044812719667, "wheel_position_rad": [2.394916534423828, 2.3930375576019287, 2.400162696838379, 2.396070957183838], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.007721382575994, "forward_m_s": 0.43801575601350434, "normal_height_m": 0.13221717836430713, "ground_tilt_rad": 0.0008948129900132371}
{"seq": 188, "t_s": 3.024, "x_m": 1.0222840309143066, "y_m": 0.00045400660019367933, "z_m": 0.043336957693099976, "vx_m_s": 0.43586185574531555, "vy_m_s": 0.0011059632524847984, "vz_m_s": -0.048275526612997055, "tilt_rad": 0.08728743902460506, "wheel_position_rad": [2.394902467727661, 2.393158435821533, 2.4003043174743652, 2.396121025085449], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0146168668045246, "forward_m_s": 0.43841075917240263, "normal_height_m": 0.13226997149869882, "ground_tilt_rad": 2.1951023913423776e-05}
{"seq": 189, "t_s": 3.04, "x_m": 1.0292130708694458, "y_m": 0.0004737829731311649, "z_m": 0.04276181012392044, "vx_m_s": 0.4312402307987213, "vy_m_s": -0.001500881277024746, "vz_m_s": -0.0622192844748497, "tilt_rad": 0.08725735516838093, "wheel_position_rad": [2.3949782848358154, 2.3932607173919678, 2.400468111038208, 2.3961591720581055], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0215696670842813, "forward_m_s": 0.43502199947718023, "normal_height_m": 0.13230091816348016, "ground_tilt_rad": 0.00018247223399431403}
{"seq": 190, "t_s": 3.056, "x_m": 1.0361114740371704, "y_m": 0.0004475870227906853, "z_m": 0.04212478548288345, "vx_m_s": 0.43049174547195435, "vy_m_s": -2.3381668142974377e-05, "vz_m_s": -0.018307220190763474, "tilt_rad": 0.08722732715724055, "wheel_position_rad": [2.3950486183166504, 2.3933145999908447, 2.4005744457244873, 2.396291732788086], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0284973401010058, "forward_m_s": 0.430449173784793, "normal_height_m": 0.13226755304538115, "ground_tilt_rad": 0.00010609622379989307}
{"seq": 191, "t_s": 3.072, "x_m": 1.0429978370666504, "y_m": 0.0004571918398141861, "z_m": 0.04146531596779823, "vx_m_s": 0.42785361409187317, "vy_m_s": 0.0001746416965033859, "vz_m_s": -0.03347639739513397, "tilt_rad": 0.08701655280544339, "wheel_position_rad": [2.395148277282715, 2.3933520317077637, 2.4006690979003906, 2.3963911533355713], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0354149749955157, "forward_m_s": 0.42914316219720444, "normal_height_m": 0.13221077909556447, "ground_tilt_rad": 0.00025104428619221464}
{"seq": 192, "t_s": 3.088, "x_m": 1.04982328414917, "y_m": 0.00045429362216964364, "z_m": 0.0408979132771492, "vx_m_s": 0.42550140619277954, "vy_m_s": 0.0005180456209927797, "vz_m_s": -0.04028711095452309, "tilt_rad": 0.08708504414806677, "wheel_position_rad": [2.3952431678771973, 2.393399477005005, 2.4007654190063477, 2.3964974880218506], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.042263901594168, "forward_m_s": 0.427393497958228, "normal_height_m": 0.13224041245351875, "ground_tilt_rad": 0.00019567333936196726}
{"seq": 193, "t_s": 3.104, "x_m": 1.0565754175186157, "y_m": 0.0004895476740784943, "z_m": 0.04033766686916351, "vx_m_s": 0.4239663779735565, "vy_m_s": -0.0002961196005344391, "vz_m_s": -0.03628094866871834, "tilt_rad": 0.08756561282851084, "wheel_position_rad": [2.395346164703369, 2.3934485912323, 2.40083384513855, 2.3966140747070312], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0490391697494277, "forward_m_s": 0.42551515093522985, "normal_height_m": 0.13227078515120375, "ground_tilt_rad": 0.00039357964969447733}
{"seq": 194, "t_s": 3.12, "x_m": 1.06342351436615, "y_m": 0.000416405062424019, "z_m": 0.03977373242378235, "vx_m_s": 0.42188867926597595, "vy_m_s": 0.00017670646775513887, "vz_m_s": -0.017797913402318954, "tilt_rad": 0.08679984020492254, "wheel_position_rad": [2.395493268966675, 2.3934593200683594, 2.400909423828125, 2.3967714309692383], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0559103576464084, "forward_m_s": 0.4218344558316318, "normal_height_m": 0.13230584761379846, "ground_tilt_rad": 0.0006781404205267805}
{"seq": 195, "t_s": 3.136, "x_m": 1.0700699090957642, "y_m": 0.0004996208008378744, "z_m": 0.03910587728023529, "vx_m_s": 0.419788658618927, "vy_m_s": -0.0001285504549741745, "vz_m_s": -0.044502899050712585, "tilt_rad": 0.0877179717280462, "wheel_position_rad": [2.3955845832824707, 2.3934905529022217, 2.4009666442871094, 2.396878242492676], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0625896682485587, "forward_m_s": 0.42206991925640974, "normal_height_m": 0.13221980532995722, "ground_tilt_rad": 0.000550001448952801}
{"seq": 196, "t_s": 3.152, "x_m": 1.0768569707870483, "y_m": 0.00045026809675619006, "z_m": 0.038552768528461456, "vx_m_s": 0.4176771938800812, "vy_m_s": 0.0001985349808819592, "vz_m_s": -0.03709666058421135, "tilt_rad": 0.0869398029500141, "wheel_position_rad": [2.39570689201355, 2.393508195877075, 2.401062488555908, 2.3970181941986084], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0693991097251188, "forward_m_s": 0.4193209930638496, "normal_height_m": 0.13226033272675003, "ground_tilt_rad": 0.00038106402430176776}
{"seq": 197, "t_s": 3.168, "x_m": 1.0835105180740356, "y_m": 0.00047392587293870747, "z_m": 0.0379808135330677, "vx_m_s": 0.4150956869125366, "vy_m_s": -1.074641477316618e-05, "vz_m_s": -0.04511275514960289, "tilt_rad": 0.08716713666519627, "wheel_position_rad": [2.395820140838623, 2.3935506343841553, 2.401134490966797, 2.3971309661865234], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0760771874183601, "forward_m_s": 0.41744795818547703, "normal_height_m": 0.13227044904849572, "ground_tilt_rad": 0.00010102298256358563}
{"seq": 198, "t_s": 3.184, "x_m": 1.0901343822479248, "y_m": 0.00046975098666734993, "z_m": 0.03742384910583496, "vx_m_s": 0.41453176736831665, "vy_m_s": 0.0004423137288540602, "vz_m_s": -0.03800785541534424, "tilt_rad": 0.08737481403581444, "wheel_position_rad": [2.39583158493042, 2.393662214279175, 2.4012842178344727, 2.397186040878296], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0827243884376077, "forward_m_s": 0.4162669517118879, "normal_height_m": 0.13229291184099568, "ground_tilt_rad": 0.00011682429794429394}
{"seq": 199, "t_s": 3.2, "x_m": 1.0967724323272705, "y_m": 0.0004906239337287843, "z_m": 0.036869846284389496, "vx_m_s": 0.41353538632392883, "vy_m_s": 0.0007794918492436409, "vz_m_s": -0.040472645312547684, "tilt_rad": 0.08714522753440271, "wheel_position_rad": [2.3958592414855957, 2.3937675952911377, 2.4014391899108887, 2.3972384929656982], "contacts": 2, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0893854632597066, "forward_m_s": 0.41548918279239727, "normal_height_m": 0.13231956135260536, "ground_tilt_rad": 0.00018755619495557655}
{"seq": 200, "t_s": 3.216, "x_m": 1.1033209562301636, "y_m": 0.0004673511430155486, "z_m": 0.03626396134495735, "vx_m_s": 0.4105015695095062, "vy_m_s": -0.0011722752824425697, "vz_m_s": -0.04401516914367676, "tilt_rad": 0.08748392315912365, "wheel_position_rad": [2.395902633666992, 2.3938868045806885, 2.4015986919403076, 2.3972723484039307], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.0959618744040116, "forward_m_s": 0.4127756618625912, "normal_height_m": 0.13228672345294687, "ground_tilt_rad": 0.00024312913895322623}
{"seq": 201, "t_s": 3.232, "x_m": 1.1098732948303223, "y_m": 0.0004858880420215428, "z_m": 0.03567389398813248, "vx_m_s": 0.40923410654067993, "vy_m_s": 0.00021722004748880863, "vz_m_s": -0.026820635423064232, "tilt_rad": 0.08748662331166693, "wheel_position_rad": [2.3959615230560303, 2.3939390182495117, 2.4017069339752197, 2.3973822593688965], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1025407071363469, "forward_m_s": 0.4100144196153992, "normal_height_m": 0.1322699754179919, "ground_tilt_rad": 0.0002268118917514218}
{"seq": 202, "t_s": 3.248, "x_m": 1.116415023803711, "y_m": 0.00048279479960910976, "z_m": 0.03506679832935333, "vx_m_s": 0.4058162271976471, "vy_m_s": 0.00014475715579465032, "vz_m_s": -0.044831663370132446, "tilt_rad": 0.08728742308193777, "wheel_position_rad": [2.3960726261138916, 2.393970251083374, 2.401805877685547, 2.3974945545196533], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1091104547290496, "forward_m_s": 0.4081793108535281, "normal_height_m": 0.13223533918901115, "ground_tilt_rad": 2.1213544497545977e-05}
{"seq": 203, "t_s": 3.2640000000000002, "x_m": 1.122904896736145, "y_m": 0.00048409562441520393, "z_m": 0.03454558551311493, "vx_m_s": 0.40380796790122986, "vy_m_s": 0.0001267693005502224, "vz_m_s": -0.03685387223958969, "tilt_rad": 0.08727922660728685, "wheel_position_rad": [2.396158218383789, 2.3940327167510986, 2.40191650390625, 2.397596836090088], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1156210584257584, "forward_m_s": 0.4054833832785757, "normal_height_m": 0.1322817394406612, "ground_tilt_rad": 1.3516215701270473e-05}
{"seq": 204, "t_s": 3.2800000000000002, "x_m": 1.1293656826019287, "y_m": 0.00048640952445566654, "z_m": 0.033965982496738434, "vx_m_s": 0.40356865525245667, "vy_m_s": 0.00013121863594278693, "vz_m_s": -0.027478544041514397, "tilt_rad": 0.08726009738819564, "wheel_position_rad": [2.3962290287017822, 2.394097328186035, 2.4020144939422607, 2.3976995944976807], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1221077747821495, "forward_m_s": 0.40442786759407523, "normal_height_m": 0.13226743657961493, "ground_tilt_rad": 6.701597415998643e-06}
{"seq": 205, "t_s": 3.2960000000000003, "x_m": 1.1358059644699097, "y_m": 0.0004891282296739519, "z_m": 0.03337889909744263, "vx_m_s": 0.4008880853652954, "vy_m_s": 0.00012528292427305132, "vz_m_s": -0.026698021218180656, "tilt_rad": 0.08713703101936304, "wheel_position_rad": [2.3963329792022705, 2.3941385746002197, 2.4021031856536865, 2.397806167602539], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1285747171229688, "forward_m_s": 0.40168947103822167, "normal_height_m": 0.1322438947596069, "ground_tilt_rad": 0.00012950284492995321}
{"seq": 206, "t_s": 3.3120000000000003, "x_m": 1.1421897411346436, "y_m": 0.0005111985956318676, "z_m": 0.032870739698410034, "vx_m_s": 0.39841312170028687, "vy_m_s": -0.0011825738474726677, "vz_m_s": -0.0455179288983345, "tilt_rad": 0.087254598473061, "wheel_position_rad": [2.3963823318481445, 2.394235134124756, 2.402247905731201, 2.397859573364258], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1349784906000353, "forward_m_s": 0.4008641883894766, "normal_height_m": 0.1322940518572552, "ground_tilt_rad": 0.00020319601155116386}
{"seq": 207, "t_s": 3.3280000000000003, "x_m": 1.1485438346862793, "y_m": 0.00048053948557935655, "z_m": 0.03230253607034683, "vx_m_s": 0.39712437987327576, "vy_m_s": -0.0004428164102137089, "vz_m_s": -0.030273986980319023, "tilt_rad": 0.08736116795336964, "wheel_position_rad": [2.396423816680908, 2.39430832862854, 2.4023876190185547, 2.397955894470215], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1413579271165897, "forward_m_s": 0.3982517535339323, "normal_height_m": 0.13228180615852309, "ground_tilt_rad": 0.0001546699504480895}
{"seq": 208, "t_s": 3.344, "x_m": 1.1549054384231567, "y_m": 0.000506081385537982, "z_m": 0.03179319202899933, "vx_m_s": 0.3953208029270172, "vy_m_s": 0.000663023442029953, "vz_m_s": -0.02674873173236847, "tilt_rad": 0.08708499916047836, "wheel_position_rad": [2.3964574337005615, 2.3944127559661865, 2.402549982070923, 2.398010730743408], "contacts": 2, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1477397152888653, "forward_m_s": 0.39614779350295876, "normal_height_m": 0.13232885062378189, "ground_tilt_rad": 0.00021263715114227383}
{"seq": 209, "t_s": 3.36, "x_m": 1.1611496210098267, "y_m": 0.0004572446923702955, "z_m": 0.0312274768948555, "vx_m_s": 0.3929026424884796, "vy_m_s": -0.0004923869855701923, "vz_m_s": -0.02876448817551136, "tilt_rad": 0.08765551472902258, "wheel_position_rad": [2.3964695930480957, 2.394542932510376, 2.4027252197265625, 2.398036479949951], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1540094421983225, "forward_m_s": 0.39391451964495294, "normal_height_m": 0.13230950457771076, "ground_tilt_rad": 0.0005538260925547797}
{"seq": 210, "t_s": 3.376, "x_m": 1.1675068140029907, "y_m": 0.0005398859502747655, "z_m": 0.030626345425844193, "vx_m_s": 0.39184385538101196, "vy_m_s": -5.5898912250995636e-05, "vz_m_s": -0.03766629844903946, "tilt_rad": 0.08682716914509284, "wheel_position_rad": [2.39650297164917, 2.394639730453491, 2.4028642177581787, 2.398085832595825], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1603948362125294, "forward_m_s": 0.3936356054282738, "normal_height_m": 0.132264726472535, "ground_tilt_rad": 0.0005983543428082665}
{"seq": 211, "t_s": 3.392, "x_m": 1.173651099205017, "y_m": 0.00044598907697945833, "z_m": 0.030094517394900322, "vx_m_s": 0.3895919620990753, "vy_m_s": 0.0006878082640469074, "vz_m_s": -0.01992027461528778, "tilt_rad": 0.08776157087066068, "wheel_position_rad": [2.39650297164917, 2.3947649002075195, 2.4030442237854004, 2.3981287479400635], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1665620924214026, "forward_m_s": 0.3898456133920918, "normal_height_m": 0.13227043194824822, "ground_tilt_rad": 0.0007375027115290094}
{"seq": 212, "t_s": 3.408, "x_m": 1.179949402809143, "y_m": 0.0005235070129856467, "z_m": 0.029514890164136887, "vx_m_s": 0.38666006922721863, "vy_m_s": -0.0004838886670768261, "vz_m_s": -0.03644163906574249, "tilt_rad": 0.08689583142182261, "wheel_position_rad": [2.3965582847595215, 2.394869804382324, 2.403207778930664, 2.398159980773926], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1728869469206187, "forward_m_s": 0.38836480904765935, "normal_height_m": 0.13224194370275993, "ground_tilt_rad": 0.000421914488339193}
{"seq": 213, "t_s": 3.424, "x_m": 1.1860706806182861, "y_m": 0.00046881180605851114, "z_m": 0.028961144387722015, "vx_m_s": 0.3856266736984253, "vy_m_s": 0.0011681662872433662, "vz_m_s": -0.0251774899661541, "tilt_rad": 0.0874485020030411, "wheel_position_rad": [2.39656400680542, 2.394969940185547, 2.4033560752868652, 2.39823055267334], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1790331935440705, "forward_m_s": 0.38635361061964874, "normal_height_m": 0.13222380961022537, "ground_tilt_rad": 0.00040557587398298666}
{"seq": 214, "t_s": 3.44, "x_m": 1.1922553777694702, "y_m": 0.0005079481634311378, "z_m": 0.028458813205361366, "vx_m_s": 0.3824521601200104, "vy_m_s": 0.0006035496480762959, "vz_m_s": -0.04390339553356171, "tilt_rad": 0.08707405358435293, "wheel_position_rad": [2.3966195583343506, 2.395085096359253, 2.4035255908966064, 2.398258924484253], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1852381371026872, "forward_m_s": 0.3848232472321615, "normal_height_m": 0.1322624218235523, "ground_tilt_rad": 0.00019248121689189034}
{"seq": 215, "t_s": 3.456, "x_m": 1.198341727256775, "y_m": 0.0005127155454829335, "z_m": 0.027962571009993553, "vx_m_s": 0.38139861822128296, "vy_m_s": 0.0003092939732596278, "vz_m_s": -0.042661137878894806, "tilt_rad": 0.08735567565946284, "wheel_position_rad": [2.396758556365967, 2.395092725753784, 2.4035441875457764, 2.398416519165039], "contacts": 2, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1913445765497934, "forward_m_s": 0.38366544448985523, "normal_height_m": 0.13229852828974534, "ground_tilt_rad": 9.474946088184257e-05}
{"seq": 216, "t_s": 3.472, "x_m": 1.204428791999817, "y_m": 0.0005196751444600523, "z_m": 0.027385331690311432, "vx_m_s": 0.3807993531227112, "vy_m_s": -0.0009598108008503914, "vz_m_s": -0.05518978461623192, "tilt_rad": 0.08733382550636572, "wheel_position_rad": [2.3968660831451416, 2.395120859146118, 2.403597354888916, 2.3985376358032227], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.1974587878954033, "forward_m_s": 0.3841604032879222, "normal_height_m": 0.13225400818878083, "ground_tilt_rad": 0.00010486265504909351}
{"seq": 217, "t_s": 3.488, "x_m": 1.2104986906051636, "y_m": 0.0005137593834660947, "z_m": 0.02684202790260315, "vx_m_s": 0.37573015689849854, "vy_m_s": 0.0007627764716744423, "vz_m_s": -0.048751115798950195, "tilt_rad": 0.08717258706589279, "wheel_position_rad": [2.396993637084961, 2.3951423168182373, 2.403719186782837, 2.3986668586730957], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2035529407491596, "forward_m_s": 0.3785493299226985, "normal_height_m": 0.13224179835736466, "ground_tilt_rad": 9.388083145434028e-05}
{"seq": 218, "t_s": 3.504, "x_m": 1.2165117263793945, "y_m": 0.0005089424084872007, "z_m": 0.026371149346232414, "vx_m_s": 0.3766663670539856, "vy_m_s": -0.0004640268161892891, "vz_m_s": -0.02139859087765217, "tilt_rad": 0.08725462468965571, "wheel_position_rad": [2.3971176147460938, 2.3951642513275146, 2.4037368297576904, 2.3988289833068848], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2095841348772087, "forward_m_s": 0.37709804789035484, "normal_height_m": 0.13229678223513436, "ground_tilt_rad": 6.85386826301887e-05}
{"seq": 219, "t_s": 3.52, "x_m": 1.2225059270858765, "y_m": 0.0005155958351679146, "z_m": 0.02584129013121128, "vx_m_s": 0.37321051955223083, "vy_m_s": 0.00048732245340943336, "vz_m_s": -0.016010455787181854, "tilt_rad": 0.08722181433643983, "wheel_position_rad": [2.39723539352417, 2.395184278488159, 2.4038431644439697, 2.3989627361297607], "contacts": 2, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2156017061137407, "forward_m_s": 0.37318574401585847, "normal_height_m": 0.13229136830914723, "ground_tilt_rad": 4.980981443539858e-05}
{"seq": 220, "t_s": 3.536, "x_m": 1.228463888168335, "y_m": 0.0005158098065294325, "z_m": 0.02531609870493412, "vx_m_s": 0.37136006355285645, "vy_m_s": 0.0005782525986433029, "vz_m_s": -0.04674943536520004, "tilt_rad": 0.08723821856483062, "wheel_position_rad": [2.3973426818847656, 2.395202398300171, 2.4039101600646973, 2.3990869522094727], "contacts": 2, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2215827688043648, "forward_m_s": 0.3740214081566569, "normal_height_m": 0.13228744591820998, "ground_tilt_rad": 4.945462606710053e-05}
{"seq": 221, "t_s": 3.552, "x_m": 1.234386920928955, "y_m": 0.000510693877004087, "z_m": 0.02479151077568531, "vx_m_s": 0.36978650093078613, "vy_m_s": 0.0008399826474487782, "vz_m_s": -0.03908731788396835, "tilt_rad": 0.08729288130146465, "wheel_position_rad": [2.397411584854126, 2.395273208618164, 2.4040257930755615, 2.399179697036743], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2275289834877283, "forward_m_s": 0.3717860358753386, "normal_height_m": 0.13228108052397994, "ground_tilt_rad": 0.00011510606619760239}
{"seq": 222, "t_s": 3.568, "x_m": 1.2402886152267456, "y_m": 0.0005167464260011911, "z_m": 0.024221152067184448, "vx_m_s": 0.3682970106601715, "vy_m_s": 0.0004984934348613024, "vz_m_s": -0.051423050463199615, "tilt_rad": 0.08725735356475758, "wheel_position_rad": [2.3974876403808594, 2.3953258991241455, 2.4041199684143066, 2.3992693424224854], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2334579300938175, "forward_m_s": 0.3713773435001724, "normal_height_m": 0.13222725875255448, "ground_tilt_rad": 7.314239792941033e-05}
{"seq": 223, "t_s": 3.584, "x_m": 1.2461590766906738, "y_m": 0.0005396933411248028, "z_m": 0.023756243288517, "vx_m_s": 0.36561083793640137, "vy_m_s": -9.588897228240967e-06, "vz_m_s": -0.04907980188727379, "tilt_rad": 0.08720811442587821, "wheel_position_rad": [2.3975558280944824, 2.395416736602783, 2.40425443649292, 2.3993377685546875], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2393465721494494, "forward_m_s": 0.3684971649045167, "normal_height_m": 0.13227576352130985, "ground_tilt_rad": 0.00014684039305423098}
{"seq": 224, "t_s": 3.6, "x_m": 1.2519924640655518, "y_m": 0.0005305894883349538, "z_m": 0.0232730433344841, "vx_m_s": 0.3644602596759796, "vy_m_s": -0.0011102259159088135, "vz_m_s": -0.04211815819144249, "tilt_rad": 0.08721906732070235, "wheel_position_rad": [2.3976693153381348, 2.395449638366699, 2.4043192863464355, 2.39947247505188], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2451998753751077, "forward_m_s": 0.36674421771469023, "normal_height_m": 0.13230281549837639, "ground_tilt_rad": 5.295569541813118e-05}
{"seq": 225, "t_s": 3.616, "x_m": 1.257766842842102, "y_m": 0.000550874334294349, "z_m": 0.022754045203328133, "vx_m_s": 0.3616540729999542, "vy_m_s": 0.00017629869398660958, "vz_m_s": -0.00946648046374321, "tilt_rad": 0.0875083722635928, "wheel_position_rad": [2.3977677822113037, 2.395490884780884, 2.4044346809387207, 2.399604082107544], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.250997514564686, "forward_m_s": 0.36110292820186324, "normal_height_m": 0.13228906258297585, "ground_tilt_rad": 0.0003165225316370037}
{"seq": 226, "t_s": 3.632, "x_m": 1.2635523080825806, "y_m": 0.0005019179079681635, "z_m": 0.02221945859491825, "vx_m_s": 0.359855979681015, "vy_m_s": 8.508595055900514e-05, "vz_m_s": -0.01813364215195179, "tilt_rad": 0.08738573553815256, "wheel_position_rad": [2.3978426456451416, 2.3955368995666504, 2.404533624649048, 2.399705648422241], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2568075566561636, "forward_m_s": 0.3600670700853117, "normal_height_m": 0.13226074675818172, "ground_tilt_rad": 0.0003249309950607384}
{"seq": 227, "t_s": 3.648, "x_m": 1.2693113088607788, "y_m": 0.0005119136185385287, "z_m": 0.02172812633216381, "vx_m_s": 0.3580837845802307, "vy_m_s": 0.00022123527014628053, "vz_m_s": -0.02077372744679451, "tilt_rad": 0.08721089776909978, "wheel_position_rad": [2.397930383682251, 2.3955845832824707, 2.4046339988708496, 2.3998124599456787], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2625874651260074, "forward_m_s": 0.35853171731671535, "normal_height_m": 0.13227321415333254, "ground_tilt_rad": 0.00023067507996099896}
{"seq": 228, "t_s": 3.664, "x_m": 1.275010585784912, "y_m": 0.0005336142494343221, "z_m": 0.021242152899503708, "vx_m_s": 0.355878084897995, "vy_m_s": 0.0005773869343101978, "vz_m_s": -0.016412697732448578, "tilt_rad": 0.08731744285518679, "wheel_position_rad": [2.398049831390381, 2.395599126815796, 2.404707670211792, 2.399958610534668], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2683074099562646, "forward_m_s": 0.35595432220379103, "normal_height_m": 0.13228581470975054, "ground_tilt_rad": 5.863453562151145e-05}
{"seq": 229, "t_s": 3.68, "x_m": 1.2806960344314575, "y_m": 0.0005342224612832069, "z_m": 0.020727431401610374, "vx_m_s": 0.35379281640052795, "vy_m_s": 0.0009033461101353168, "vz_m_s": -0.028654491528868675, "tilt_rad": 0.08725734071185857, "wheel_position_rad": [2.398144483566284, 2.3956353664398193, 2.404799699783325, 2.4000704288482666], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2740160846886832, "forward_m_s": 0.35494393141340735, "normal_height_m": 0.1322685713821987, "ground_tilt_rad": 4.4511681604029126e-05}
{"seq": 230, "t_s": 3.696, "x_m": 1.2863397598266602, "y_m": 0.0005393722676672041, "z_m": 0.02022658847272396, "vx_m_s": 0.35241052508354187, "vy_m_s": 0.00020713641424663365, "vz_m_s": -0.028278442099690437, "tilt_rad": 0.08729831872334144, "wheel_position_rad": [2.3982436656951904, 2.395665407180786, 2.4048728942871094, 2.4001963138580322], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.279681985342337, "forward_m_s": 0.3535341252648977, "normal_height_m": 0.132261517390548, "ground_tilt_rad": 3.442988024729798e-05}
{"seq": 231, "t_s": 3.712, "x_m": 1.2919610738754272, "y_m": 0.0005456966464407742, "z_m": 0.019750190898776054, "vx_m_s": 0.3506251275539398, "vy_m_s": 0.00031939358450472355, "vz_m_s": -0.026301689445972443, "tilt_rad": 0.0872518611233932, "wheel_position_rad": [2.3982880115509033, 2.3957583904266357, 2.4050135612487793, 2.4002625942230225], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2853234293784277, "forward_m_s": 0.35158323636615885, "normal_height_m": 0.13227686245433548, "ground_tilt_rad": 3.257504605532845e-05}
{"seq": 232, "t_s": 3.728, "x_m": 1.2975459098815918, "y_m": 0.0005515271332114935, "z_m": 0.019290128722786903, "vx_m_s": 0.3487105667591095, "vy_m_s": -0.0005239024758338928, "vz_m_s": -0.03153806924819946, "tilt_rad": 0.08725458713169994, "wheel_position_rad": [2.3983662128448486, 2.3958358764648438, 2.405130624771118, 2.4003443717956543], "contacts": 1, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2909271104581392, "forward_m_s": 0.35013234162414647, "normal_height_m": 0.13230530148406366, "ground_tilt_rad": 6.744685812577301e-05}
{"seq": 233, "t_s": 3.744, "x_m": 1.303104281425476, "y_m": 0.0005426576244644821, "z_m": 0.018773948773741722, "vx_m_s": 0.34576216340065, "vy_m_s": 0.00023768102983012795, "vz_m_s": -0.036874186247587204, "tilt_rad": 0.08721633222271431, "wheel_position_rad": [2.398481607437134, 2.3958535194396973, 2.405214786529541, 2.400477409362793], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.2965093187670311, "forward_m_s": 0.3476602310710833, "normal_height_m": 0.13227552975593826, "ground_tilt_rad": 6.562374789839203e-05}
{"seq": 234, "t_s": 3.7600000000000002, "x_m": 1.308630108833313, "y_m": 0.0005490150069817901, "z_m": 0.018262984231114388, "vx_m_s": 0.3447238504886627, "vy_m_s": 0.00026223441818729043, "vz_m_s": -0.03824635222554207, "tilt_rad": 0.08719444832380521, "wheel_position_rad": [2.398590564727783, 2.395883321762085, 2.405277729034424, 2.400599718093872], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3020586522275188, "forward_m_s": 0.3467454613981831, "normal_height_m": 0.13224811717968543, "ground_tilt_rad": 7.201447699664678e-05}
{"seq": 235, "t_s": 3.7760000000000002, "x_m": 1.3141156435012817, "y_m": 0.000550091324839741, "z_m": 0.017798468470573425, "vx_m_s": 0.34181705117225647, "vy_m_s": 0.00018372712656855583, "vz_m_s": -0.03187340870499611, "tilt_rad": 0.08725459521103902, "wheel_position_rad": [2.3986763954162598, 2.3959460258483887, 2.4053890705108643, 2.400697708129883], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3075637979960757, "forward_m_s": 0.3432942847047404, "normal_height_m": 0.13226346489020932, "ground_tilt_rad": 1.538154996305523e-05}
{"seq": 236, "t_s": 3.7920000000000003, "x_m": 1.319570779800415, "y_m": 0.0005565706524066627, "z_m": 0.01732676476240158, "vx_m_s": 0.33994466066360474, "vy_m_s": 9.926268830895424e-05, "vz_m_s": -0.029731756076216698, "tilt_rad": 0.08730922984924065, "wheel_position_rad": [2.3987770080566406, 2.3959949016571045, 2.40547513961792, 2.4008078575134277], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3130392875416828, "forward_m_s": 0.3412423618816955, "normal_height_m": 0.13226900261299898, "ground_tilt_rad": 5.4584375214688975e-05}
{"seq": 237, "t_s": 3.8080000000000003, "x_m": 1.3250044584274292, "y_m": 0.000550523865967989, "z_m": 0.016854094341397285, "vx_m_s": 0.3383049964904785, "vy_m_s": 0.00034681428223848343, "vz_m_s": -0.03531568497419357, "tilt_rad": 0.08726826234933949, "wheel_position_rad": [2.3988921642303467, 2.396017551422119, 2.405540704727173, 2.40093994140625], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3184934853226662, "forward_m_s": 0.3400956085963295, "normal_height_m": 0.1322717071422392, "ground_tilt_rad": 4.679830843065938e-05}
{"seq": 238, "t_s": 3.8240000000000003, "x_m": 1.3304141759872437, "y_m": 0.0005352572188712656, "z_m": 0.016363337635993958, "vx_m_s": 0.33658456802368164, "vy_m_s": 0.00023422407684847713, "vz_m_s": -0.0330272875726223, "tilt_rad": 0.08715891567907559, "wheel_position_rad": [2.398958683013916, 2.396085739135742, 2.4056644439697266, 2.4010300636291504], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3239253895390948, "forward_m_s": 0.33818227990402455, "normal_height_m": 0.13225430586624412, "ground_tilt_rad": 0.00024412533242856404}
{"seq": 239, "t_s": 3.84, "x_m": 1.3357678651809692, "y_m": 0.0005539223202504218, "z_m": 0.015946516767144203, "vx_m_s": 0.33430683612823486, "vy_m_s": 0.000753126572817564, "vz_m_s": -0.02737373299896717, "tilt_rad": 0.08728465480765385, "wheel_position_rad": [2.399073600769043, 2.396115303039551, 2.4057459831237793, 2.40116286277771], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3292950346615326, "forward_m_s": 0.33542047571807465, "normal_height_m": 0.13230567588476128, "ground_tilt_rad": 5.7285286945839774e-05}
{"seq": 240, "t_s": 3.856, "x_m": 1.3411195278167725, "y_m": 0.0005716226878575981, "z_m": 0.015460081398487091, "vx_m_s": 0.33239009976387024, "vy_m_s": 3.92322544939816e-05, "vz_m_s": -0.009729735553264618, "tilt_rad": 0.08713697423489118, "wheel_position_rad": [2.3991575241088867, 2.3961868286132812, 2.4058585166931152, 2.401256799697876], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3346687282411496, "forward_m_s": 0.331973257411837, "normal_height_m": 0.13228751968149907, "ground_tilt_rad": 0.00016418321423008445}
{"seq": 241, "t_s": 3.872, "x_m": 1.346422553062439, "y_m": 0.0005636632558889687, "z_m": 0.014959722757339478, "vx_m_s": 0.33114925026893616, "vy_m_s": 0.0001267736661247909, "vz_m_s": -0.029179682955145836, "tilt_rad": 0.08715614293988384, "wheel_position_rad": [2.3992276191711426, 2.3962442874908447, 2.405956983566284, 2.4013431072235107], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3399951830037387, "forward_m_s": 0.33243230433606763, "normal_height_m": 0.13225125416013908, "ground_tilt_rad": 0.00011032583071273567}
{"seq": 242, "t_s": 3.888, "x_m": 1.351689338684082, "y_m": 0.000566070550121367, "z_m": 0.0144993020221591, "vx_m_s": 0.3290662169456482, "vy_m_s": 0.00012932515528518707, "vz_m_s": -0.025062380358576775, "tilt_rad": 0.08722451633565724, "wheel_position_rad": [2.399303436279297, 2.396308183670044, 2.4060633182525635, 2.4014360904693604], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3452820552271565, "forward_m_s": 0.32999835101753894, "normal_height_m": 0.13225161607760788, "ground_tilt_rad": 4.217975235877007e-05}
{"seq": 243, "t_s": 3.904, "x_m": 1.3569226264953613, "y_m": 0.0005682691116817296, "z_m": 0.014048239216208458, "vx_m_s": 0.3269539177417755, "vy_m_s": 0.00012972585682291538, "vz_m_s": -0.022204037755727768, "tilt_rad": 0.08731195666872299, "wheel_position_rad": [2.3993825912475586, 2.3963711261749268, 2.40617299079895, 2.4015305042266846], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3505347415122195, "forward_m_s": 0.32764496877727894, "normal_height_m": 0.13225838078801777, "ground_tilt_rad": 4.5839554078849526e-05}
{"seq": 244, "t_s": 3.92, "x_m": 1.3621283769607544, "y_m": 0.0005704016075469553, "z_m": 0.013565736822783947, "vx_m_s": 0.3248482346534729, "vy_m_s": 0.00013002814375795424, "vz_m_s": -0.016252394765615463, "tilt_rad": 0.08737202100507764, "wheel_position_rad": [2.3994643688201904, 2.396434783935547, 2.406284809112549, 2.401628017425537], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.355762735379909, "forward_m_s": 0.3250285785834783, "normal_height_m": 0.13223142551024197, "ground_tilt_rad": 0.00010573754265741875}
{"seq": 245, "t_s": 3.936, "x_m": 1.3673150539398193, "y_m": 0.0005725038354285061, "z_m": 0.013135159388184547, "vx_m_s": 0.3230587840080261, "vy_m_s": 0.00013078161282464862, "vz_m_s": -0.018808657303452492, "tilt_rad": 0.08730376019348005, "wheel_position_rad": [2.399540901184082, 2.3964955806732178, 2.4063901901245117, 2.4017221927642822], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3609672027832909, "forward_m_s": 0.32346873029813056, "normal_height_m": 0.1322545352372787, "ground_tilt_rad": 3.7844549229682735e-05}
{"seq": 246, "t_s": 3.952, "x_m": 1.37245512008667, "y_m": 0.0005745577509514987, "z_m": 0.012680993415415287, "vx_m_s": 0.3209533095359802, "vy_m_s": 0.00013031727576162666, "vz_m_s": -0.01567416824400425, "tilt_rad": 0.08739112143232364, "wheel_position_rad": [2.399623155593872, 2.3965580463409424, 2.406501531600952, 2.4018189907073975], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3661272925993118, "forward_m_s": 0.3210980790700003, "normal_height_m": 0.13225008378595315, "ground_tilt_rad": 0.0001248109414006054}
{"seq": 247, "t_s": 3.968, "x_m": 1.3775725364685059, "y_m": 0.0005764232482761145, "z_m": 0.012250681407749653, "vx_m_s": 0.31896284222602844, "vy_m_s": 0.00013059325283393264, "vz_m_s": -0.015129770152270794, "tilt_rad": 0.08739112046425744, "wheel_position_rad": [2.3997137546539307, 2.3966100215911865, 2.4066004753112793, 2.4019243717193604], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3712627398294661, "forward_m_s": 0.31906773866906596, "normal_height_m": 0.13226742147109938, "ground_tilt_rad": 0.0001247238390807919}
{"seq": 248, "t_s": 3.984, "x_m": 1.3826650381088257, "y_m": 0.0005785534740425646, "z_m": 0.011787049472332, "vx_m_s": 0.317108690738678, "vy_m_s": 0.0001303072349401191, "vz_m_s": -0.014412623830139637, "tilt_rad": 0.08733652796460968, "wheel_position_rad": [2.399792194366455, 2.3966712951660156, 2.4067065715789795, 2.4020204544067383], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.376376271149269, "forward_m_s": 0.31715813936754444, "normal_height_m": 0.13224939455807602, "ground_tilt_rad": 7.021552385338505e-05}
{"seq": 249, "t_s": 4.0, "x_m": 1.3877146244049072, "y_m": 0.0005806615808978677, "z_m": 0.011368531733751297, "vx_m_s": 0.31508752703666687, "vy_m_s": 0.00012988958042114973, "vz_m_s": -0.014914196915924549, "tilt_rad": 0.08738838892424332, "wheel_position_rad": [2.3998725414276123, 2.3967325687408447, 2.406815767288208, 2.4021153450012207], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3814431184693412, "forward_m_s": 0.3151883817784593, "normal_height_m": 0.13227256985004796, "ground_tilt_rad": 0.00012202408876024726}
{"seq": 250, "t_s": 4.016, "x_m": 1.392743468284607, "y_m": 0.0005827993154525757, "z_m": 0.010906358249485493, "vx_m_s": 0.3132181465625763, "vy_m_s": 0.00013045084779150784, "vz_m_s": -0.0144416568800807, "tilt_rad": 0.08734744611984066, "wheel_position_rad": [2.3999507427215576, 2.396794080734253, 2.4069223403930664, 2.4022109508514404], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3864931071531288, "forward_m_s": 0.31328493028365206, "normal_height_m": 0.13225044769892103, "ground_tilt_rad": 8.116937297302941e-05}
{"seq": 251, "t_s": 4.032, "x_m": 1.3977307081222534, "y_m": 0.0005848828586749732, "z_m": 0.010487484745681286, "vx_m_s": 0.3111916780471802, "vy_m_s": 0.0001300913281738758, "vz_m_s": -0.014906063675880432, "tilt_rad": 0.0874020293785493, "wheel_position_rad": [2.400031328201294, 2.396855354309082, 2.407031774520874, 2.4023056030273438], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3914978762688452, "forward_m_s": 0.31130664881198955, "normal_height_m": 0.13226783472757095, "ground_tilt_rad": 0.00013567991126911576}
{"seq": 252, "t_s": 4.048, "x_m": 1.4026975631713867, "y_m": 0.0005869981832802296, "z_m": 0.010026153177022934, "vx_m_s": 0.3093205988407135, "vy_m_s": 0.00013060627679806203, "vz_m_s": -0.014334267936646938, "tilt_rad": 0.08735563331044169, "wheel_position_rad": [2.4001095294952393, 2.3969171047210693, 2.4071385860443115, 2.4024012088775635], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.3964860386305016, "forward_m_s": 0.30939285434444497, "normal_height_m": 0.13224114860573832, "ground_tilt_rad": 8.936727162134404e-05}
{"seq": 253, "t_s": 4.064, "x_m": 1.4076366424560547, "y_m": 0.0005959129193797708, "z_m": 0.009605886414647102, "vx_m_s": 0.3077276647090912, "vy_m_s": -0.00048694852739572525, "vz_m_s": -0.032304055988788605, "tilt_rad": 0.08727368831186842, "wheel_position_rad": [2.40021014213562, 2.3969502449035645, 2.40720796585083, 2.4025118350982666], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.4014429518891696, "forward_m_s": 0.3093721520328158, "normal_height_m": 0.13225295020882014, "ground_tilt_rad": 7.418987826358014e-05}
{"seq": 254, "t_s": 4.08, "x_m": 1.4125477075576782, "y_m": 0.0006004543392919004, "z_m": 0.009148347191512585, "vx_m_s": 0.3054669499397278, "vy_m_s": -8.962035644799471e-05, "vz_m_s": -0.034110650420188904, "tilt_rad": 0.08716158339029334, "wheel_position_rad": [2.400315999984741, 2.396981716156006, 2.407299757003784, 2.40263295173645], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.4063752060762187, "forward_m_s": 0.30727749504519075, "normal_height_m": 0.13222517958717864, "ground_tilt_rad": 0.00014380146419132867}
{"seq": 255, "t_s": 4.096, "x_m": 1.4173921346664429, "y_m": 0.0005784672102890909, "z_m": 0.008727277629077435, "vx_m_s": 0.3038213849067688, "vy_m_s": 0.00018739531515166163, "vz_m_s": -0.03433822840452194, "tilt_rad": 0.08739386208356412, "wheel_position_rad": [2.4003515243530273, 2.3970749378204346, 2.407438039779663, 2.402698516845703], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.4112378973077244, "forward_m_s": 0.30565802661224944, "normal_height_m": 0.1322279319644042, "ground_tilt_rad": 0.00018975784975986925}
{"seq": 256, "t_s": 4.112, "x_m": 1.4222636222839355, "y_m": 0.000622499268501997, "z_m": 0.008323188871145248, "vx_m_s": 0.30112358927726746, "vy_m_s": -0.000753660686314106, "vz_m_s": -0.03898073360323906, "tilt_rad": 0.08705752637481784, "wheel_position_rad": [2.4003820419311523, 2.3972113132476807, 2.407618522644043, 2.402712345123291], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.416126066099924, "forward_m_s": 0.30337511789840915, "normal_height_m": 0.13224995900778228, "ground_tilt_rad": 0.0003464442757951011}
{"seq": 257, "t_s": 4.128, "x_m": 1.4270507097244263, "y_m": 0.0005974501254968345, "z_m": 0.007935489527881145, "vx_m_s": 0.3003224730491638, "vy_m_s": 0.0012882780283689499, "vz_m_s": -0.02831289730966091, "tilt_rad": 0.08723543214832614, "wheel_position_rad": [2.4003758430480957, 2.3973379135131836, 2.407790422439575, 2.4027597904205322], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.4209287274516673, "forward_m_s": 0.3016472869637398, "normal_height_m": 0.13228095713904287, "ground_tilt_rad": 3.17095379754751e-05}
{"seq": 258, "t_s": 4.144, "x_m": 1.43177330493927, "y_m": 0.0005536610260605812, "z_m": 0.0075658345595002174, "vx_m_s": 0.29683032631874084, "vy_m_s": -9.988772217184305e-05, "vz_m_s": -0.013734612613916397, "tilt_rad": 0.08773975928029154, "wheel_position_rad": [2.4004058837890625, 2.397477388381958, 2.4079887866973877, 2.402782678604126], "contacts": 2, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.4256655693192577, "forward_m_s": 0.2968978476752896, "normal_height_m": 0.13232431011306475, "ground_tilt_rad": 0.0006516037233347427}
{"seq": 259, "t_s": 4.16, "x_m": 1.436626672744751, "y_m": 0.000675094488542527, "z_m": 0.007089708466082811, "vx_m_s": 0.29513663053512573, "vy_m_s": -0.0002639731392264366, "vz_m_s": -0.014846508391201496, "tilt_rad": 0.08668137090319769, "wheel_position_rad": [2.4004404544830322, 2.3975822925567627, 2.4081408977508545, 2.4028289318084717], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.4305419657182803, "forward_m_s": 0.2953075050177991, "normal_height_m": 0.13227299469909345, "ground_tilt_rad": 0.000942653743024309}
{"seq": 260, "t_s": 4.176, "x_m": 1.4412713050842285, "y_m": 0.0005791137809865177, "z_m": 0.006632041186094284, "vx_m_s": 0.29441192746162415, "vy_m_s": 0.001115528866648674, "vz_m_s": -0.02474253997206688, "tilt_rad": 0.08734201176065189, "wheel_position_rad": [2.400437116622925, 2.397681474685669, 2.4082789421081543, 2.4028820991516113], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 1.4352088121611721, "forward_m_s": 0.29544805564097065, "normal_height_m": 0.1322218753626158, "ground_tilt_rad": 0.0002492286107850416}