{"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": 0.02006489597260952, "y_m": -2.6608373282499542e-09, "z_m": 0.12664911150932312, "vx_m_s": 0.009711546823382378, "vy_m_s": -6.2049130065133795e-06, "vz_m_s": -1.0891361236572266, "tilt_rad": 0.08726867049902798, "wheel_position_rad": [4.9791789933806285e-05, 4.979021105100401e-05, 5.145951217855327e-05, 5.149273056304082e-05], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.008950345603749982, "forward_m_s": 0.10459905926637411, "normal_height_m": 0.12791594431526523, "ground_tilt_rad": 2.2094457764966307e-06}
{"seq": 9, "t_s": 0.16, "x_m": 0.020362291485071182, "y_m": -8.438718168690684e-08, "z_m": 0.12146837264299393, "vx_m_s": 0.019700147211551666, "vy_m_s": -1.0441817721584812e-05, "vz_m_s": 0.017788589000701904, "tilt_rad": 0.08727960048665759, "wheel_position_rad": [0.0005758441402576864, 0.0005717181484214962, 0.0006186392274685204, 0.0006195468013174832], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00969814058037715, "forward_m_s": 0.01807480451698566, "normal_height_m": 0.12278083945120867, "ground_tilt_rad": 1.3180235015623106e-05}
{"seq": 10, "t_s": 0.176, "x_m": 0.020670171827077866, "y_m": -1.0935231387065869e-07, "z_m": 0.12371523678302765, "vx_m_s": 0.01830207370221615, "vy_m_s": -5.978807848805445e-07, "vz_m_s": 0.1789841204881668, "tilt_rad": 0.08726866880368528, "wheel_position_rad": [0.0007461051573045552, 0.0007359622395597398, 0.0008234042325057089, 0.0008249515667557716], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009809022231753164, "forward_m_s": 0.002632934825049572, "normal_height_m": 0.12504598713472773, "ground_tilt_rad": 2.615652570001216e-06}
{"seq": 11, "t_s": 0.192, "x_m": 0.020925795659422874, "y_m": -9.398520006698163e-08, "z_m": 0.1263607293367386, "vx_m_s": 0.01389108132570982, "vy_m_s": 8.296971714116808e-07, "vz_m_s": 0.14588716626167297, "tilt_rad": 0.08726593549089341, "wheel_position_rad": [0.0008232817053794861, 0.0008086711750365794, 0.0009219577768817544, 0.0009221744840033352], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009833103469789078, "forward_m_s": 0.0011233172345461728, "normal_height_m": 0.12770369187554778, "ground_tilt_rad": 1.4830960374796243e-06}
{"seq": 12, "t_s": 0.20800000000000002, "x_m": 0.021105248481035233, "y_m": -1.0695525531900785e-07, "z_m": 0.12821830809116364, "vx_m_s": 0.009283891879022121, "vy_m_s": -1.9604004819484544e-07, "vz_m_s": 0.09413810074329376, "tilt_rad": 0.08726593514915627, "wheel_position_rad": [0.0008915845537558198, 0.0008729780674912035, 0.0010075316531583667, 0.001004766789264977], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00984997476318273, "forward_m_s": 0.0010438877764032128, "normal_height_m": 0.12956984232594967, "ground_tilt_rad": 1.3628657748282384e-06}
{"seq": 13, "t_s": 0.224, "x_m": 0.02122165821492672, "y_m": -1.1459064808150288e-07, "z_m": 0.12936164438724518, "vx_m_s": 0.00593792088329792, "vy_m_s": 1.1364143119863002e-06, "vz_m_s": 0.05615482106804848, "tilt_rad": 0.08726593478891906, "wheel_position_rad": [0.0009602768695913255, 0.0009382169228047132, 0.0010916732717305422, 0.0010862956987693906], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009866293198796358, "forward_m_s": 0.001021110162582035, "normal_height_m": 0.13071897365906235, "ground_tilt_rad": 1.2287812309318543e-06}
{"seq": 14, "t_s": 0.24, "x_m": 0.02129620686173439, "y_m": -1.1106479291811411e-07, "z_m": 0.1300305873155594, "vx_m_s": 0.0038389330729842186, "vy_m_s": 1.0496347613297985e-06, "vz_m_s": 0.03240904584527016, "tilt_rad": 0.08726593440476157, "wheel_position_rad": [0.0010296422988176346, 0.0010046252282336354, 0.0011747899698093534, 0.00116788933519274], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009882255947723052, "forward_m_s": 0.000999690311248505, "normal_height_m": 0.13139186840025827, "ground_tilt_rad": 1.1101115067118484e-06}
{"seq": 15, "t_s": 0.256, "x_m": 0.021345598623156548, "y_m": -1.1178067893524712e-07, "z_m": 0.13041192293167114, "vx_m_s": 0.002625506604090333, "vy_m_s": 2.787888320199272e-07, "vz_m_s": 0.01823699288070202, "tilt_rad": 0.08726593395389916, "wheel_position_rad": [0.001099273911677301, 0.0010713450610637665, 0.00125719397328794, 0.001249274704605341], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009898224169722863, "forward_m_s": 0.001026057098798315, "normal_height_m": 0.13177605769487472, "ground_tilt_rad": 1.0055799972297966e-06}
{"seq": 16, "t_s": 0.272, "x_m": 0.02138114906847477, "y_m": -1.1401278499079126e-07, "z_m": 0.13062423467636108, "vx_m_s": 0.0019876461010426283, "vy_m_s": -7.084320827743795e-07, "vz_m_s": 0.010106868110597134, "tilt_rad": 0.08726593333898833, "wheel_position_rad": [0.0011684438213706017, 0.0011373263550922275, 0.0013395082205533981, 0.0013310662470757961], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009915135147061176, "forward_m_s": 0.0010992109105096826, "normal_height_m": 0.13199065995474416, "ground_tilt_rad": 1.0205935732226675e-06}
{"seq": 17, "t_s": 0.28800000000000003, "x_m": 0.02140938490629196, "y_m": -1.315585222982918e-07, "z_m": 0.13074256479740143, "vx_m_s": 0.0016420321771875024, "vy_m_s": -9.95235268419492e-07, "vz_m_s": 0.00567563297227025, "tilt_rad": 0.08726593256851417, "wheel_position_rad": [0.0012373640201985836, 0.0012031025253236294, 0.001422161585651338, 0.0014136781683191657], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009932950389402149, "forward_m_s": 0.001141119741748923, "normal_height_m": 0.13211100070936616, "ground_tilt_rad": 9.80989968218413e-07}
{"seq": 18, "t_s": 0.304, "x_m": 0.021433521062135696, "y_m": -1.4773475243146095e-07, "z_m": 0.13080951571464539, "vx_m_s": 0.001442181644961238, "vy_m_s": -1.4111417385720415e-06, "vz_m_s": 0.00322726764716208, "tilt_rad": 0.08726866461133634, "wheel_position_rad": [0.0013062034267932177, 0.00126899394672364, 0.0015050334623083472, 0.0014967842726036906], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009951159542965958, "forward_m_s": 0.001155418799561719, "normal_height_m": 0.1321798004627466, "ground_tilt_rad": 2.36262128222298e-06}
{"seq": 19, "t_s": 0.32, "x_m": 0.021455278620123863, "y_m": -1.5754800131162483e-07, "z_m": 0.13084767758846283, "vx_m_s": 0.0013253234792500734, "vy_m_s": -1.1240038020332577e-06, "vz_m_s": 0.0018402491696178913, "tilt_rad": 0.08726866365403418, "wheel_position_rad": [0.0013750037178397179, 0.0013349954970180988, 0.0015879697166383266, 0.0015800617402419448], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.009969508280419993, "forward_m_s": 0.0011598919400666202, "normal_height_m": 0.13221971341523964, "ground_tilt_rad": 2.392831415415551e-06}
{"seq": 20, "t_s": 0.336, "x_m": 0.02147563360631466, "y_m": -1.6307805594806268e-07, "z_m": 0.13086935877799988, "vx_m_s": 0.001256464165635407, "vy_m_s": -7.07923845766345e-07, "vz_m_s": 0.0010389173403382301, "tilt_rad": 0.08726866261658159, "wheel_position_rad": [0.001443786546587944, 0.0014010738814249635, 0.0016709156334400177, 0.0016633846098557115], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00998789616956524, "forward_m_s": 0.001161135327697661, "normal_height_m": 0.13224308615524485, "ground_tilt_rad": 2.4178482910366963e-06}
{"seq": 21, "t_s": 0.352, "x_m": 0.021495163440704346, "y_m": -1.6523927115486003e-07, "z_m": 0.13088145852088928, "vx_m_s": 0.0012157445307821035, "vy_m_s": -3.820200618065428e-07, "vz_m_s": 0.0005706636584363878, "tilt_rad": 0.08726866150120263, "wheel_position_rad": [0.001512562157586217, 0.0014672009274363518, 0.0017538571264594793, 0.001746714930050075], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010006297124960272, "forward_m_s": 0.0011613816407890492, "normal_height_m": 0.13225684199218152, "ground_tilt_rad": 2.434504999925419e-06}
{"seq": 22, "t_s": 0.368, "x_m": 0.021514203399419785, "y_m": -1.6508654709923576e-07, "z_m": 0.1308879405260086, "vx_m_s": 0.001191637828014791, "vy_m_s": -1.674849983146487e-07, "vz_m_s": 0.0002954046649392694, "tilt_rad": 0.08726866030918257, "wheel_position_rad": [0.0015813345089554787, 0.0015333578921854496, 0.0018367921002209187, 0.001830043038353324], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01002469968691381, "forward_m_s": 0.001161357073329993, "normal_height_m": 0.1322649587730581, "ground_tilt_rad": 2.444335539431057e-06}
{"seq": 23, "t_s": 0.384, "x_m": 0.021532952785491943, "y_m": -1.634717250453832e-07, "z_m": 0.1308911144733429, "vx_m_s": 0.0011773655423894525, "vy_m_s": -3.5777873108600033e-08, "vz_m_s": 0.00013311307702679187, "tilt_rad": 0.08726865904130988, "wheel_position_rad": [0.0016501053469255567, 0.0015995329013094306, 0.0019197220681235194, 0.0019133675377815962], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010043101098174008, "forward_m_s": 0.0011612837419465885, "normal_height_m": 0.13226975475923372, "ground_tilt_rad": 2.4496892645204815e-06}
{"seq": 24, "t_s": 0.4, "x_m": 0.021551530808210373, "y_m": -1.609687814152494e-07, "z_m": 0.1308923363685608, "vx_m_s": 0.0011689180973917246, "vy_m_s": 4.2732395399980305e-08, "vz_m_s": 3.728763840626925e-05, "tilt_rad": 0.08726865769805715, "wheel_position_rad": [0.0017188754864037037, 0.0016657187370583415, 0.0020026485435664654, 0.001996689010411501], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01006150193072186, "forward_m_s": 0.0011612201793045223, "normal_height_m": 0.13227259118614024, "ground_tilt_rad": 2.4522711993553316e-06}
{"seq": 25, "t_s": 0.41600000000000004, "x_m": 0.021570008248090744, "y_m": -1.5793347074577468e-07, "z_m": 0.13089239597320557, "vx_m_s": 0.0011639201547950506, "vy_m_s": 8.909063353712554e-08, "vz_m_s": -1.9332348529133014e-05, "tilt_rad": 0.08726865627972755, "wheel_position_rad": [0.0017876452766358852, 0.001731910859234631, 0.002085572574287653, 0.0020800086203962564], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01007990386347791, "forward_m_s": 0.0011611760124040666, "normal_height_m": 0.1322742609789682, "ground_tilt_rad": 2.4531764973776635e-06}
{"seq": 26, "t_s": 0.432, "x_m": 0.02158842422068119, "y_m": -1.5457752056136087e-07, "z_m": 0.13089178502559662, "vx_m_s": 0.0011609639041125774, "vy_m_s": 1.1656753429178934e-07, "vz_m_s": -5.279845208860934e-05, "tilt_rad": 0.08726865478650703, "wheel_position_rad": [0.0018564148340374231, 0.0017981069395318627, 0.0021684954408556223, 0.00216332683339715], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010098303005325352, "forward_m_s": 0.0011611477742605526, "normal_height_m": 0.13227525741396887, "ground_tilt_rad": 2.453085982609719e-06}
{"seq": 27, "t_s": 0.448, "x_m": 0.0216068048030138, "y_m": -1.5102433792435477e-07, "z_m": 0.13089075684547424, "vx_m_s": 0.0011592154623940587, "vy_m_s": 1.3311941415850015e-07, "vz_m_s": -7.258234109031036e-05, "tilt_rad": 0.08726865321851153, "wheel_position_rad": [0.0019251842750236392, 0.0018643052317202091, 0.002251417376101017, 0.0022466443479061127], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010116703255795181, "forward_m_s": 0.0011611302654310222, "normal_height_m": 0.13227583511968763, "ground_tilt_rad": 2.4524070153631537e-06}
{"seq": 28, "t_s": 0.464, "x_m": 0.02162516489624977, "y_m": -1.4734503395175125e-07, "z_m": 0.13088950514793396, "vx_m_s": 0.0011581818107515574, "vy_m_s": 1.4340304232973722e-07, "vz_m_s": -8.427877037320286e-05, "tilt_rad": 0.08726865157581108, "wheel_position_rad": [0.0019939537160098553, 0.0019305048044770956, 0.0023343386128544807, 0.002329961396753788], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010135102575962144, "forward_m_s": 0.0011611199581267346, "normal_height_m": 0.13227618837279728, "ground_tilt_rad": 2.4513202766028363e-06}
{"seq": 29, "t_s": 0.48, "x_m": 0.021643513813614845, "y_m": -1.4358030853145465e-07, "z_m": 0.13088810443878174, "vx_m_s": 0.0011575707467272878, "vy_m_s": 1.5010867571163544e-07, "vz_m_s": -9.119408059632406e-05, "tilt_rad": 0.08726864985845537, "wheel_position_rad": [0.0020627230405807495, 0.001996705075725913, 0.0024172598496079445, 0.002413277979940176], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010153503750003488, "forward_m_s": 0.0011611139283843892, "normal_height_m": 0.13227639220728782, "ground_tilt_rad": 2.450006490795764e-06}
{"seq": 30, "t_s": 0.496, "x_m": 0.021661853417754173, "y_m": -1.397533679892149e-07, "z_m": 0.13088661432266235, "vx_m_s": 0.001157209393568337, "vy_m_s": 1.5477942838515446e-07, "vz_m_s": -9.528272494208068e-05, "tilt_rad": 0.0872686480664724, "wheel_position_rad": [0.0021314923651516438, 0.0020629060454666615, 0.0025001808535307646, 0.002496594563126564], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010171903438589355, "forward_m_s": 0.0011611102991180892, "normal_height_m": 0.13227650616333064, "ground_tilt_rad": 2.44855597803762e-06}
{"seq": 31, "t_s": 0.512, "x_m": 0.021680189296603203, "y_m": -1.3587738578735298e-07, "z_m": 0.1308850795030594, "vx_m_s": 0.0011569957714527845, "vy_m_s": 1.5829641597520094e-07, "vz_m_s": -9.770014730747789e-05, "tilt_rad": 0.0872686461998762, "wheel_position_rad": [0.002200261689722538, 0.0021291072480380535, 0.002583101624622941, 0.002579911146312952], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010190303312226092, "forward_m_s": 0.001161108182140972, "normal_height_m": 0.13227657526131964, "ground_tilt_rad": 2.4468777507676043e-06}
{"seq": 32, "t_s": 0.528, "x_m": 0.021698523312807083, "y_m": -1.3195982262459438e-07, "z_m": 0.13088352978229523, "vx_m_s": 0.0011568695772439241, "vy_m_s": 1.6116035794766503e-07, "vz_m_s": -9.912945824908093e-05, "tilt_rad": 0.08726864425868204, "wheel_position_rad": [0.0022690310142934322, 0.0021953084506094456, 0.0026660223957151175, 0.0026632274966686964], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010208702629027377, "forward_m_s": 0.001161107040795908, "normal_height_m": 0.13227662935251064, "ground_tilt_rad": 2.445152967037926e-06}
{"seq": 33, "t_s": 0.544, "x_m": 0.021716855466365814, "y_m": -1.280048849139348e-07, "z_m": 0.13088195025920868, "vx_m_s": 0.001156794955022633, "vy_m_s": 1.6365609667445824e-07, "vz_m_s": -9.997455345001072e-05, "tilt_rad": 0.0872686422428963, "wheel_position_rad": [0.00233780057169497, 0.0022615098860114813, 0.002748943166807294, 0.0027465438470244408], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010227102687714984, "forward_m_s": 0.0011611063574346273, "normal_height_m": 0.1322766535924459, "ground_tilt_rad": 2.4433815282559307e-06}
{"seq": 34, "t_s": 0.56, "x_m": 0.021735185757279396, "y_m": -1.240149600789664e-07, "z_m": 0.13088035583496094, "vx_m_s": 0.0011567508336156607, "vy_m_s": 1.6594481166976038e-07, "vz_m_s": -0.00010047422256320715, "tilt_rad": 0.08726864015252021, "wheel_position_rad": [0.0024065698962658644, 0.002327711321413517, 0.0028318637050688267, 0.002829860197380185], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01024550218956714, "forward_m_s": 0.001161105952955618, "normal_height_m": 0.13227666282558315, "ground_tilt_rad": 2.4416542747971357e-06}
{"seq": 35, "t_s": 0.5760000000000001, "x_m": 0.021753517910838127, "y_m": -1.199913981508871e-07, "z_m": 0.1308787614107132, "vx_m_s": 0.0011567248729988933, "vy_m_s": 1.6811725345178274e-07, "vz_m_s": -0.00010076965554617345, "tilt_rad": 0.08726863798756017, "wheel_position_rad": [0.0024753392208367586, 0.0023939127568155527, 0.002914784476161003, 0.0029131765477359295], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010263903546976516, "forward_m_s": 0.0011611058398078977, "normal_height_m": 0.1322766722210606, "ground_tilt_rad": 2.4396527693543636e-06}
{"seq": 36, "t_s": 0.592, "x_m": 0.02177184633910656, "y_m": -1.1593491677786005e-07, "z_m": 0.13087716698646545, "vx_m_s": 0.001156709506176412, "vy_m_s": 1.702245242540812e-07, "vz_m_s": -0.00010094433673657477, "tilt_rad": 0.08726863574801362, "wheel_position_rad": [0.002544108545407653, 0.0024601141922175884, 0.0029977052472531796, 0.002996492898091674], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010282301193271452, "forward_m_s": 0.0011611057559297088, "normal_height_m": 0.13227668129185763, "ground_tilt_rad": 2.4376951649061107e-06}
{"seq": 37, "t_s": 0.608, "x_m": 0.02179017663002014, "y_m": -1.118459564963814e-07, "z_m": 0.13087555766105652, "vx_m_s": 0.0011567004257813096, "vy_m_s": 1.7229547211172758e-07, "vz_m_s": -0.0001010476189549081, "tilt_rad": 0.08726863343388437, "wheel_position_rad": [0.002612877869978547, 0.002526315627619624, 0.003080626018345356, 0.003079809248447418], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01030070199384538, "forward_m_s": 0.0011611057117267027, "normal_height_m": 0.1322766756805371, "ground_tilt_rad": 2.4356448242272505e-06}
{"seq": 38, "t_s": 0.624, "x_m": 0.021808506920933723, "y_m": -1.077247446801266e-07, "z_m": 0.13087396323680878, "vx_m_s": 0.0011566950706765056, "vy_m_s": 1.7434609844713123e-07, "vz_m_s": -0.00010110868606716394, "tilt_rad": 0.0872686310451724, "wheel_position_rad": [0.0026816471945494413, 0.00259251706302166, 0.0031635465566068888, 0.0031631255988031626], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010319101495697536, "forward_m_s": 0.0011611056993492152, "normal_height_m": 0.13227668491367434, "ground_tilt_rad": 2.4334102663019355e-06}
{"seq": 39, "t_s": 0.64, "x_m": 0.021826837211847305, "y_m": -1.0357140922678809e-07, "z_m": 0.13087235391139984, "vx_m_s": 0.0011566919274628162, "vy_m_s": 1.7638615190662676e-07, "vz_m_s": -0.00010114478936884552, "tilt_rad": 0.08726862858188283, "wheel_position_rad": [0.0027504165191203356, 0.0026587184984236956, 0.003246467327699065, 0.0032464417163282633], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010337502296271464, "forward_m_s": 0.0011611057147064767, "normal_height_m": 0.13227667930235382, "ground_tilt_rad": 2.4313106490773853e-06}
{"seq": 40, "t_s": 0.656, "x_m": 0.021845167502760887, "y_m": -9.938602119063944e-08, "z_m": 0.1308707594871521, "vx_m_s": 0.0011566901812329888, "vy_m_s": 1.7841963995124388e-07, "vz_m_s": -0.00010116614430444315, "tilt_rad": 0.08726862604400673, "wheel_position_rad": [0.00281918584369123, 0.0027249199338257313, 0.0033293880987912416, 0.0033297580666840076], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010355901798123622, "forward_m_s": 0.0011611058363268543, "normal_height_m": 0.13227668853549107, "ground_tilt_rad": 2.4289806910442718e-06}
{"seq": 41, "t_s": 0.672, "x_m": 0.02186349593102932, "y_m": -9.51686232042448e-08, "z_m": 0.13086915016174316, "vx_m_s": 0.0011566891334950924, "vy_m_s": 1.804497742341482e-07, "vz_m_s": -0.00010117877536686137, "tilt_rad": 0.08726862343155425, "wheel_position_rad": [0.002887955168262124, 0.002791121369227767, 0.003412308869883418, 0.003413074417039752], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010374300743140325, "forward_m_s": 0.0011611058934455436, "normal_height_m": 0.13227668276183033, "ground_tilt_rad": 2.4267399967496663e-06}
{"seq": 42, "t_s": 0.6880000000000001, "x_m": 0.0218818262219429, "y_m": -9.091922947845887e-08, "z_m": 0.13086754083633423, "vx_m_s": 0.0011566884350031614, "vy_m_s": 1.8247797584081127e-07, "vz_m_s": -0.00010118624049937353, "tilt_rad": 0.08726862074450886, "wheel_position_rad": [0.002956724725663662, 0.002857322571799159, 0.003495229408144951, 0.0034963907673954964], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010392701543714253, "forward_m_s": 0.001161105848240754, "normal_height_m": 0.13227667715050975, "ground_tilt_rad": 2.424314057164115e-06}
{"seq": 43, "t_s": 0.704, "x_m": 0.021900156512856483, "y_m": -8.66378684349911e-08, "z_m": 0.1308659464120865, "vx_m_s": 0.001156688085757196, "vy_m_s": 1.8450529637448199e-07, "vz_m_s": -0.00010119065700564533, "tilt_rad": 0.08726861798289093, "wheel_position_rad": [0.003025494050234556, 0.0029235240072011948, 0.0035781501792371273, 0.0035797071177512407], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01041110104556641, "forward_m_s": 0.0011611058852476594, "normal_height_m": 0.132276686383647, "ground_tilt_rad": 2.4218856875795136e-06}
{"seq": 44, "t_s": 0.72, "x_m": 0.021918486803770065, "y_m": -8.232452586298677e-08, "z_m": 0.13086433708667755, "vx_m_s": 0.0011566879693418741, "vy_m_s": 1.8653210531738296e-07, "vz_m_s": -0.00010119326907442883, "tilt_rad": 0.0872686151466826, "wheel_position_rad": [0.0030942633748054504, 0.0029897254426032305, 0.0036610709503293037, 0.003663023468106985], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010429501846140339, "forward_m_s": 0.001161105996932128, "normal_height_m": 0.1322766807723265, "ground_tilt_rad": 2.4193631042965844e-06}
{"seq": 45, "t_s": 0.736, "x_m": 0.021936815232038498, "y_m": -7.79792159733006e-08, "z_m": 0.1308627426624298, "vx_m_s": 0.0011566878529265523, "vy_m_s": 1.8855863004318962e-07, "vz_m_s": -0.00010119481885340065, "tilt_rad": 0.08726861223589918, "wheel_position_rad": [0.0031630326993763447, 0.003055926878005266, 0.00374399172142148, 0.0037463398184627295], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010447899492435273, "forward_m_s": 0.001161106016031939, "normal_height_m": 0.13227668984312352, "ground_tilt_rad": 2.416700073105047e-06}
{"seq": 46, "t_s": 0.752, "x_m": 0.02195514552295208, "y_m": -7.360193876593257e-08, "z_m": 0.13086113333702087, "vx_m_s": 0.0011566878529265523, "vy_m_s": 1.9058509792557743e-07, "vz_m_s": -0.00010119573562406003, "tilt_rad": 0.08726860925053809, "wheel_position_rad": [0.003231802023947239, 0.003122128313407302, 0.0038269124925136566, 0.003829656168818474], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0104663002930092, "forward_m_s": 0.0011611060959337669, "normal_height_m": 0.13227668423180297, "ground_tilt_rad": 2.4141260831758823e-06}
{"seq": 47, "t_s": 0.768, "x_m": 0.02197347581386566, "y_m": -6.919270134631006e-08, "z_m": 0.13085952401161194, "vx_m_s": 0.0011566878529265523, "vy_m_s": 1.9261150896454637e-07, "vz_m_s": -0.00010119627404492348, "tilt_rad": 0.08726860619058276, "wheel_position_rad": [0.003300571581348777, 0.003188329515978694, 0.003909833263605833, 0.003912972752004862], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010484701093583128, "forward_m_s": 0.001161106142860237, "normal_height_m": 0.13227667862048245, "ground_tilt_rad": 2.411319146145878e-06}
{"seq": 48, "t_s": 0.784, "x_m": 0.021991806104779243, "y_m": -6.475148950357834e-08, "z_m": 0.1308579295873642, "vx_m_s": 0.0011566878529265523, "vy_m_s": 1.94637436834455e-07, "vz_m_s": -0.00010119660146301612, "tilt_rad": 0.08726860305605867, "wheel_position_rad": [0.003369340905919671, 0.0032545309513807297, 0.0039927540346980095, 0.0039962888695299625], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010503100595435284, "forward_m_s": 0.001161106171396604, "normal_height_m": 0.1322766878536197, "ground_tilt_rad": 2.4086011278082343e-06}
{"seq": 49, "t_s": 0.8, "x_m": 0.022010134533047676, "y_m": -6.027831744859213e-08, "z_m": 0.13085632026195526, "vx_m_s": 0.0011566878529265523, "vy_m_s": 1.966637057648768e-07, "vz_m_s": -0.00010119679063791409, "tilt_rad": 0.0872685998469416, "wheel_position_rad": [0.0034381102304905653, 0.0033207323867827654, 0.004075674805790186, 0.0040796054527163506], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01052149954045199, "forward_m_s": 0.0011611061878842829, "normal_height_m": 0.13227668207995896, "ground_tilt_rad": 2.4056954468030252e-06}
{"seq": 50, "t_s": 0.8160000000000001, "x_m": 0.022028464823961258, "y_m": -5.577318162863776e-08, "z_m": 0.13085471093654633, "vx_m_s": 0.0011566878529265523, "vy_m_s": 1.9868994627358916e-07, "vz_m_s": -0.00010119690705323592, "tilt_rad": 0.08726859656325321, "wheel_position_rad": [0.0035068795550614595, 0.0033869335893541574, 0.004158595576882362, 0.004162921570241451], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01053990034102592, "forward_m_s": 0.0011611061980305467, "normal_height_m": 0.1322766764686384, "ground_tilt_rad": 2.402832457177038e-06}
{"seq": 51, "t_s": 0.8320000000000001, "x_m": 0.02204679511487484, "y_m": -5.1236078491001535e-08, "z_m": 0.13085311651229858, "vx_m_s": 0.0011566879693418741, "vy_m_s": 2.0071610151717323e-07, "vz_m_s": -0.00010119697981281206, "tilt_rad": 0.08726859320497311, "wheel_position_rad": [0.0035756491124629974, 0.003453135024756193, 0.0042415158823132515, 0.004246238153427839], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010558299842878077, "forward_m_s": 0.0011611063203442878, "normal_height_m": 0.13227668570177564, "ground_tilt_rad": 2.3998272683556417e-06}
{"seq": 52, "t_s": 0.848, "x_m": 0.02206512540578842, "y_m": -4.6667008035683466e-08, "z_m": 0.13085150718688965, "vx_m_s": 0.0011566879693418741, "vy_m_s": 2.0274248413443274e-07, "vz_m_s": -0.00010119702346855775, "tilt_rad": 0.08726858977211911, "wheel_position_rad": [0.0036444184370338917, 0.0035193362273275852, 0.004324436653405428, 0.00432955427095294], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010576700643452001, "forward_m_s": 0.0011611063241491369, "normal_height_m": 0.13227668009045512, "ground_tilt_rad": 2.3967256683678484e-06}
{"seq": 53, "t_s": 0.864, "x_m": 0.022083453834056854, "y_m": -4.206597381539723e-08, "z_m": 0.1308499127626419, "vx_m_s": 0.001156688085757196, "vy_m_s": 2.047687246431451e-07, "vz_m_s": -0.00010119704529643059, "tilt_rad": 0.08726858626468739, "wheel_position_rad": [0.003713187761604786, 0.003585537662729621, 0.004407357424497604, 0.004412870854139328], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010595098289746937, "forward_m_s": 0.0011611064420238876, "normal_height_m": 0.13227668916125213, "ground_tilt_rad": 2.3936664315414217e-06}
{"seq": 54, "t_s": 0.88, "x_m": 0.022101784124970436, "y_m": -3.7432972277429144e-08, "z_m": 0.13084830343723297, "vx_m_s": 0.001156688085757196, "vy_m_s": 2.0679465251305373e-07, "vz_m_s": -0.00010119706712430343, "tilt_rad": 0.08726858268267412, "wheel_position_rad": [0.003781957319006324, 0.003651738865301013, 0.004490278195589781, 0.004496187437325716], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010613499090320866, "forward_m_s": 0.0011611064439263122, "normal_height_m": 0.1322766835499316, "ground_tilt_rad": 2.390510395784408e-06}
{"seq": 55, "t_s": 0.896, "x_m": 0.022120114415884018, "y_m": -3.276801407992025e-08, "z_m": 0.13084669411182404, "vx_m_s": 0.001156688085757196, "vy_m_s": 2.0882112039544154e-07, "vz_m_s": -0.00010119702346855775, "tilt_rad": 0.08726857902606529, "wheel_position_rad": [0.003850726643577218, 0.003717940067872405, 0.004573198966681957, 0.004579503554850817], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010631899890894794, "forward_m_s": 0.0011611064401214632, "normal_height_m": 0.1322766779386111, "ground_tilt_rad": 2.3872106705114306e-06}
{"seq": 56, "t_s": 0.912, "x_m": 0.02213844284415245, "y_m": -2.8071093893800025e-08, "z_m": 0.1308450996875763, "vx_m_s": 0.0011566882021725178, "vy_m_s": 2.1084665036141814e-07, "vz_m_s": -0.00010119708895217627, "tilt_rad": 0.08726857529487997, "wheel_position_rad": [0.003919496200978756, 0.0037841415032744408, 0.004656119737774134, 0.004662820138037205], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01065029753718973, "forward_m_s": 0.001161106561801063, "normal_height_m": 0.13227668700940812, "ground_tilt_rad": 2.3839995192247403e-06}
{"seq": 57, "t_s": 0.928, "x_m": 0.022156773135066032, "y_m": -2.3342204613641115e-08, "z_m": 0.13084349036216736, "vx_m_s": 0.0011566882021725178, "vy_m_s": 2.1287283402671164e-07, "vz_m_s": -0.0001011971035040915, "tilt_rad": 0.08726857148910798, "wheel_position_rad": [0.00398826552554965, 0.003850342705845833, 0.00473904050886631, 0.0047461362555623055], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010668698337763655, "forward_m_s": 0.001161106563069346, "normal_height_m": 0.13227668139808757, "ground_tilt_rad": 2.3805042243807087e-06}
{"seq": 58, "t_s": 0.9440000000000001, "x_m": 0.022175103425979614, "y_m": -1.858137288479611e-08, "z_m": 0.13084189593791962, "vx_m_s": 0.0011566883185878396, "vy_m_s": 2.1489913137884287e-07, "vz_m_s": -0.00010119707440026104, "tilt_rad": 0.08726856760878114, "wheel_position_rad": [0.004057034850120544, 0.003916543908417225, 0.0048219612799584866, 0.0048294528387486935], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.01068709783961581, "forward_m_s": 0.0011611066765051063, "normal_height_m": 0.1322766906312248, "ground_tilt_rad": 2.377143906190743e-06}
{"seq": 59, "t_s": 0.96, "x_m": 0.022193433716893196, "y_m": -1.3788572950090838e-08, "z_m": 0.13084028661251068, "vx_m_s": 0.0011566883185878396, "vy_m_s": 2.1692420659746858e-07, "vz_m_s": -0.00010119711078004912, "tilt_rad": 0.08726856365384979, "wheel_position_rad": [0.004125804174691439, 0.003982745110988617, 0.004904882051050663, 0.0049127694219350815], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010705498640189739, "forward_m_s": 0.0011611066796758138, "normal_height_m": 0.13227668501990428, "ground_tilt_rad": 2.3736852887388662e-06}
{"seq": 60, "t_s": 0.976, "x_m": 0.02221176214516163, "y_m": -8.963797704097942e-09, "z_m": 0.13083867728710175, "vx_m_s": 0.0011566883185878396, "vy_m_s": 2.1895036184105265e-07, "vz_m_s": -0.00010119711805600673, "tilt_rad": 0.08726855962433426, "wheel_position_rad": [0.004194573499262333, 0.004048946313560009, 0.004987802822142839, 0.004996085539460182], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010723897585206447, "forward_m_s": 0.0011611066803099554, "normal_height_m": 0.13227667924624353, "ground_tilt_rad": 2.369987410554373e-06}
{"seq": 61, "t_s": 0.992, "x_m": 0.02223009243607521, "y_m": -4.107157280941465e-09, "z_m": 0.130837082862854, "vx_m_s": 0.0011566884350031614, "vy_m_s": 2.2097447072155774e-07, "vz_m_s": -0.00010119711805600673, "tilt_rad": 0.08726855552024095, "wheel_position_rad": [0.0042633432894945145, 0.004115147516131401, 0.005070723593235016, 0.00507940212264657], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.010742297087058603, "forward_m_s": 0.0011611067962822817, "normal_height_m": 0.13227668847938076, "ground_tilt_rad": 2.3664714198182972e-06}
{"seq": 62, "t_s": 1.008, "x_m": 0.022248422726988792, "y_m": 7.815101343844333e-10, "z_m": 0.13083547353744507, "vx_m_s": 0.0011566884350031614, "vy_m_s": 2.2299980173556833e-07, "vz_m_s": -0.00010119712533196434, "tilt_rad": 0.08726855134158638, "wheel_position_rad": [0.004332112614065409, 0.004181348718702793, 0.005153644364327192, 0.005162718240171671], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.010760697887632531, "forward_m_s": 0.0011611067969164231, "normal_height_m": 0.13227668286806024, "ground_tilt_rad": 2.3626682729105e-06}
{"seq": 63, "t_s": 1.024, "x_m": 0.022658828645944595, "y_m": 1.3522146673494717e-06, "z_m": 0.1308545023202896, "vx_m_s": 0.05000647157430649, "vy_m_s": -1.983318361453712e-05, "vz_m_s": 0.00943139847368002, "tilt_rad": 0.08752777052309181, "wheel_position_rad": [0.018626539036631584, 0.018159816041588783, 0.019251344725489616, 0.019061855971813202], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.011167883620459373, "forward_m_s": 0.04899418131347699, "normal_height_m": 0.13233140847333574, "ground_tilt_rad": 0.0002617054549591601}
{"seq": 64, "t_s": 1.04, "x_m": 0.023835407570004463, "y_m": -2.1997982912580483e-05, "z_m": 0.13079378008842468, "vx_m_s": 0.0964263528585434, "vy_m_s": 0.00036792783066630363, "vz_m_s": 0.012311676517128944, "tilt_rad": 0.08727941494003692, "wheel_position_rad": [0.058135319501161575, 0.05703439936041832, 0.0583178736269474, 0.05757075548171997], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.012345277597713785, "forward_m_s": 0.09498638816268548, "normal_height_m": 0.1323734629179233, "ground_tilt_rad": 0.00021803928417576861}
{"seq": 65, "t_s": 1.056, "x_m": 0.02566508576273918, "y_m": 2.4578868760727346e-05, "z_m": 0.1305382251739502, "vx_m_s": 0.14186197519302368, "vy_m_s": 0.0007518250495195389, "vz_m_s": 0.01013731025159359, "tilt_rad": 0.08722759029462085, "wheel_position_rad": [0.11509130895137787, 0.11372809112071991, 0.11507866531610489, 0.11405719071626663], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.014190266390914037, "forward_m_s": 0.14043862274367183, "normal_height_m": 0.1322783474289295, "ground_tilt_rad": 0.00024836700764993016}
{"seq": 66, "t_s": 1.072, "x_m": 0.028235340490937233, "y_m": 2.0983959984732792e-05, "z_m": 0.1303066462278366, "vx_m_s": 0.18207582831382751, "vy_m_s": 0.0009183022193610668, "vz_m_s": -0.009305591695010662, "tilt_rad": 0.08721664309915718, "wheel_position_rad": [0.17313237488269806, 0.17171649634838104, 0.17306022346019745, 0.1719716191291809], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.016770923958943425, "forward_m_s": 0.18219401057278298, "normal_height_m": 0.13227166217050823, "ground_tilt_rad": 0.0002152654309515989}
{"seq": 67, "t_s": 1.088, "x_m": 0.0315023809671402, "y_m": 1.463691660319455e-05, "z_m": 0.12994880974292755, "vx_m_s": 0.2202521115541458, "vy_m_s": 0.001003745011985302, "vz_m_s": -0.03577229753136635, "tilt_rad": 0.08721936033821572, "wheel_position_rad": [0.23115700483322144, 0.22976616024971008, 0.23108342289924622, 0.22985878586769104], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.020056719864412414, "forward_m_s": 0.2225317469348882, "normal_height_m": 0.1321999287007482, "ground_tilt_rad": 0.00015355882251314102}
{"seq": 68, "t_s": 1.104, "x_m": 0.03550906479358673, "y_m": -6.266981927183224e-06, "z_m": 0.12962941825389862, "vx_m_s": 0.2641828954219818, "vy_m_s": 0.0006175516173243523, "vz_m_s": -0.040313154458999634, "tilt_rad": 0.08729036613504207, "wheel_position_rad": [0.2891901135444641, 0.2877582609653473, 0.28904902935028076, 0.2877453565597534], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.02407599385170199, "forward_m_s": 0.26669112266527956, "normal_height_m": 0.1322309580976109, "ground_tilt_rad": 6.622628603018269e-05}
{"seq": 69, "t_s": 1.12, "x_m": 0.040222879499197006, "y_m": -3.1319004847318865e-06, "z_m": 0.12923163175582886, "vx_m_s": 0.3102383613586426, "vy_m_s": 0.0010183779522776604, "vz_m_s": -0.04288763552904129, "tilt_rad": 0.08739412265259133, "wheel_position_rad": [0.3472151756286621, 0.34573841094970703, 0.34704655408859253, 0.34562426805496216], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.02880654044691211, "forward_m_s": 0.31279571445937526, "normal_height_m": 0.13224552131910364, "ground_tilt_rad": 0.0001312945203486668}
{"seq": 70, "t_s": 1.1360000000000001, "x_m": 0.04567676782608032, "y_m": -1.0372642464062665e-05, "z_m": 0.12876707315444946, "vx_m_s": 0.3559715747833252, "vy_m_s": 0.0005927714519202709, "vz_m_s": -0.04123668000102043, "tilt_rad": 0.08726575229164064, "wheel_position_rad": [0.40530040860176086, 0.4036560356616974, 0.40495234727859497, 0.40360069274902344], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.03428016403209077, "forward_m_s": 0.3582110089444543, "normal_height_m": 0.13225806819144886, "ground_tilt_rad": 0.00010272510367752509}
{"seq": 71, "t_s": 1.1520000000000001, "x_m": 0.05181571841239929, "y_m": -1.5207601791189518e-05, "z_m": 0.1282329559326172, "vx_m_s": 0.4028736352920532, "vy_m_s": 0.0011874549090862274, "vz_m_s": -0.043378423899412155, "tilt_rad": 0.08741863133561652, "wheel_position_rad": [0.4633558392524719, 0.46160969138145447, 0.4629216194152832, 0.4614814519882202], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.04044230544121205, "forward_m_s": 0.405121258233067, "normal_height_m": 0.13226102824494188, "ground_tilt_rad": 0.00021419556682780326}
{"seq": 72, "t_s": 1.168, "x_m": 0.05870027095079422, "y_m": 2.0829935237998143e-05, "z_m": 0.12758681178092957, "vx_m_s": 0.43800973892211914, "vy_m_s": -0.0011288197711110115, "vz_m_s": -0.07155930995941162, "tilt_rad": 0.08713181194224315, "wheel_position_rad": [0.5214850902557373, 0.5195118188858032, 0.5208014249801636, 0.5196042656898499], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.04735697535215753, "forward_m_s": 0.4425797844367872, "normal_height_m": 0.13221737115679674, "ground_tilt_rad": 0.00024732405109589866}
{"seq": 73, "t_s": 1.184, "x_m": 0.0663616806268692, "y_m": 6.651584408245981e-05, "z_m": 0.12695199251174927, "vx_m_s": 0.4973374307155609, "vy_m_s": -1.2912176316604018e-05, "vz_m_s": -0.03076000139117241, "tilt_rad": 0.08647525225743584, "wheel_position_rad": [0.5796138644218445, 0.5773650407791138, 0.578646719455719, 0.5775098204612732], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.05504455919628815, "forward_m_s": 0.49812582240957926, "normal_height_m": 0.13225270341740525, "ground_tilt_rad": 0.0010333129373770395}
{"seq": 74, "t_s": 1.2, "x_m": 0.0745650976896286, "y_m": -4.600079137162538e-06, "z_m": 0.12616097927093506, "vx_m_s": 0.5349777936935425, "vy_m_s": 0.0014501828700304031, "vz_m_s": -0.06089402735233307, "tilt_rad": 0.0872630513514977, "wheel_position_rad": [0.6377405524253845, 0.6352956891059875, 0.6366005539894104, 0.6354819536209106], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.06328570112697084, "forward_m_s": 0.5382493058571155, "normal_height_m": 0.1321796751279594, "ground_tilt_rad": 7.855995207651132e-05}
{"seq": 75, "t_s": 1.216, "x_m": 0.08349116146564484, "y_m": -4.708083361038007e-05, "z_m": 0.12531399726867676, "vx_m_s": 0.5775376558303833, "vy_m_s": -0.0019426600774750113, "vz_m_s": -0.049417395144701004, "tilt_rad": 0.08771276318282854, "wheel_position_rad": [0.6958097815513611, 0.6932423710823059, 0.6945239901542664, 0.6934930086135864], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.0722516178809677, "forward_m_s": 0.5796469604650542, "normal_height_m": 0.1321138738661422, "ground_tilt_rad": 0.0006350790075252391}
{"seq": 76, "t_s": 1.232, "x_m": 0.09292063117027283, "y_m": -7.534283213317394e-05, "z_m": 0.12453144043684006, "vx_m_s": 0.5937103629112244, "vy_m_s": -0.0028526270762085915, "vz_m_s": -0.04973488301038742, "tilt_rad": 0.08756854394039909, "wheel_position_rad": [0.7539569139480591, 0.7513373494148254, 0.752606987953186, 0.7516393065452576], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.08171340992845583, "forward_m_s": 0.5957857964035261, "normal_height_m": 0.1321561273351344, "ground_tilt_rad": 0.0004268174194986413}
{"seq": 77, "t_s": 1.248, "x_m": 0.1024794727563858, "y_m": -9.547242370899767e-05, "z_m": 0.1237378716468811, "vx_m_s": 0.597416341304779, "vy_m_s": -0.0016855932772159576, "vz_m_s": -0.05041511356830597, "tilt_rad": 0.08741862724428329, "wheel_position_rad": [0.8121126294136047, 0.8095699548721313, 0.8108459115028381, 0.8097934722900391], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.0913050413137507, "forward_m_s": 0.5995369584299428, "normal_height_m": 0.1321986862522511, "ground_tilt_rad": 0.00021555972852979618}
{"seq": 78, "t_s": 1.264, "x_m": 0.11205406486988068, "y_m": -0.00010428722453070804, "z_m": 0.12293034046888351, "vx_m_s": 0.5981546640396118, "vy_m_s": -0.0007103938842192292, "vz_m_s": -0.05100737139582634, "tilt_rad": 0.08734493116732128, "wheel_position_rad": [0.8703137636184692, 0.8677949905395508, 0.8690909743309021, 0.8679884672164917], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.10091358019321561, "forward_m_s": 0.6003240902947196, "normal_height_m": 0.13222870866134362, "ground_tilt_rad": 0.00011175733412308645}
{"seq": 79, "t_s": 1.28, "x_m": 0.12163159996271133, "y_m": -0.00010745951294666156, "z_m": 0.12211163341999054, "vx_m_s": 0.5984736084938049, "vy_m_s": -0.00029942882247269154, "vz_m_s": -0.05151419714093208, "tilt_rad": 0.08731215445159196, "wheel_position_rad": [0.9285278916358948, 0.9260095357894897, 0.9273256063461304, 0.9262036681175232], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.11052602489442015, "forward_m_s": 0.6006859938432307, "normal_height_m": 0.13224785422465352, "ground_tilt_rad": 6.334221946215017e-05}
{"seq": 80, "t_s": 1.296, "x_m": 0.1312108188867569, "y_m": -0.0001081931113731116, "z_m": 0.12128526717424393, "vx_m_s": 0.5986426472663879, "vy_m_s": -0.00010794842819450423, "vz_m_s": -0.05185921862721443, "tilt_rad": 0.08729302653281457, "wheel_position_rad": [0.986744225025177, 0.9842221736907959, 0.985556423664093, 0.9844266772270203], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.1201408145623441, "forward_m_s": 0.6008844599761507, "normal_height_m": 0.13225951649222636, "ground_tilt_rad": 3.6363498789083804e-05}
{"seq": 81, "t_s": 1.312, "x_m": 0.14079105854034424, "y_m": -0.00010772494715638459, "z_m": 0.12045411020517349, "vx_m_s": 0.598735511302948, "vy_m_s": -7.852177077438682e-06, "vz_m_s": -0.05207410454750061, "tilt_rad": 0.0872820917839713, "wheel_position_rad": [1.044960618019104, 1.0424346923828125, 1.0437860488891602, 1.04265296459198], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.12975703861467536, "forward_m_s": 0.6009956991790038, "normal_height_m": 0.13226649522906536, "ground_tilt_rad": 2.106749652155989e-05}
{"seq": 82, "t_s": 1.328, "x_m": 0.15037192404270172, "y_m": -0.00010655453661456704, "z_m": 0.11962006986141205, "vx_m_s": 0.5987896919250488, "vy_m_s": 4.9026701162802055e-05, "vz_m_s": -0.05220451205968857, "tilt_rad": 0.08727662104406503, "wheel_position_rad": [1.1031768321990967, 1.1006473302841187, 1.1020152568817139, 1.100880742073059], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.139374137436896, "forward_m_s": 0.6010610393910646, "normal_height_m": 0.13227065610963898, "ground_tilt_rad": 1.2641147842815553e-05}
{"seq": 83, "t_s": 1.344, "x_m": 0.15995310246944427, "y_m": -0.0001050183636834845, "z_m": 0.11878429353237152, "vx_m_s": 0.5988205671310425, "vy_m_s": 8.365283429156989e-05, "vz_m_s": -0.05228117108345032, "tilt_rad": 0.0872711497156257, "wheel_position_rad": [1.1613928079605103, 1.158860206604004, 1.1602444648742676, 1.159109354019165], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.1489916992938164, "forward_m_s": 0.6010984783817322, "normal_height_m": 0.1322731148840388, "ground_tilt_rad": 6.085915902248329e-06}
{"seq": 84, "t_s": 1.36, "x_m": 0.16953445971012115, "y_m": -0.00010326220217393711, "z_m": 0.11794748902320862, "vx_m_s": 0.5988380908966064, "vy_m_s": 0.0001033165244734846, "vz_m_s": -0.052327003329992294, "tilt_rad": 0.08727114355680829, "wheel_position_rad": [1.2196086645126343, 1.2170730829238892, 1.2184736728668213, 1.2173383235931396], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.15860952889603233, "forward_m_s": 0.6011199300075668, "normal_height_m": 0.13227456497551332, "ground_tilt_rad": 5.050196769528209e-06}
{"seq": 85, "t_s": 1.3760000000000001, "x_m": 0.1791159063577652, "y_m": -0.0001013676228467375, "z_m": 0.11711007356643677, "vx_m_s": 0.5988479852676392, "vy_m_s": 0.00011496491060825065, "vz_m_s": -0.05235419422388077, "tilt_rad": 0.08726840445927735, "wheel_position_rad": [1.2778245210647583, 1.275286078453064, 1.2767027616500854, 1.2755675315856934], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.16822750081258758, "forward_m_s": 0.6011321565700833, "normal_height_m": 0.1322754142365496, "ground_tilt_rad": 2.088237054580795e-06}
{"seq": 86, "t_s": 1.3920000000000001, "x_m": 0.1886974275112152, "y_m": -9.938312723534182e-05, "z_m": 0.11627230793237686, "vx_m_s": 0.598853588104248, "vy_m_s": 0.00012228934792801738, "vz_m_s": -0.05237028747797012, "tilt_rad": 0.08726839809323436, "wheel_position_rad": [1.3360403776168823, 1.3334991931915283, 1.3349319696426392, 1.3337968587875366], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.17784557747139335, "forward_m_s": 0.6011391407057208, "normal_height_m": 0.132275921146437, "ground_tilt_rad": 1.9390985895001984e-06}
{"seq": 87, "t_s": 1.408, "x_m": 0.1982789933681488, "y_m": -9.733616025187075e-05, "z_m": 0.11543432623147964, "vx_m_s": 0.5988567471504211, "vy_m_s": 0.00012719639926217496, "vz_m_s": -0.052379805594682693, "tilt_rad": 0.08726839164352962, "wheel_position_rad": [1.3942561149597168, 1.3917121887207031, 1.3931611776351929, 1.3920263051986694], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.18746371749503812, "forward_m_s": 0.6011431172893011, "normal_height_m": 0.13227621670785192, "ground_tilt_rad": 1.945957011959072e-06}
{"seq": 88, "t_s": 1.424, "x_m": 0.2078605592250824, "y_m": -9.524237975711003e-05, "z_m": 0.11459622532129288, "vx_m_s": 0.5988585948944092, "vy_m_s": 0.00013071474677417427, "vz_m_s": -0.05238543450832367, "tilt_rad": 0.0872683851132954, "wheel_position_rad": [1.4524718523025513, 1.449925422668457, 1.4513903856277466, 1.4502557516098022], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.19708186790845708, "forward_m_s": 0.6011454485942147, "normal_height_m": 0.13227639351360465, "ground_tilt_rad": 1.9791075844629647e-06}
{"seq": 89, "t_s": 1.44, "x_m": 0.21744215488433838, "y_m": -9.311088069807738e-05, "z_m": 0.11375804990530014, "vx_m_s": 0.5988596081733704, "vy_m_s": 0.00013342287275008857, "vz_m_s": -0.0523887537419796, "tilt_rad": 0.08726837850424242, "wheel_position_rad": [1.5106874704360962, 1.5081385374069214, 1.5096194744110107, 1.508485198020935], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.20670005450440046, "forward_m_s": 0.6011467473076181, "normal_height_m": 0.13227649869451202, "ground_tilt_rad": 2.004580059595934e-06}
{"seq": 90, "t_s": 1.456, "x_m": 0.22702373564243317, "y_m": -9.0946996351704e-05, "z_m": 0.11291982978582382, "vx_m_s": 0.5988600850105286, "vy_m_s": 0.00013565452536568046, "vz_m_s": -0.05239070951938629, "tilt_rad": 0.08726837181729544, "wheel_position_rad": [1.5689032077789307, 1.5663517713546753, 1.5678486824035645, 1.5667146444320679], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.21631823015205134, "forward_m_s": 0.6011473927874995, "normal_height_m": 0.1322765580433243, "ground_tilt_rad": 2.017938554496031e-06}
{"seq": 91, "t_s": 1.472, "x_m": 0.23660533130168915, "y_m": -8.87538626557216e-05, "z_m": 0.11208158731460571, "vx_m_s": 0.5988604426383972, "vy_m_s": 0.0001376048312522471, "vz_m_s": -0.052391864359378815, "tilt_rad": 0.08726836505304422, "wheel_position_rad": [1.6271189451217651, 1.6245650053024292, 1.6260777711868286, 1.6249440908432007], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.22593642259224267, "forward_m_s": 0.6011478497054235, "normal_height_m": 0.1322765964241717, "ground_tilt_rad": 2.0217312104880235e-06}
{"seq": 92, "t_s": 1.488, "x_m": 0.24618692696094513, "y_m": -8.653334953123704e-05, "z_m": 0.11124332249164581, "vx_m_s": 0.5988604426383972, "vy_m_s": 0.0001393886050209403, "vz_m_s": -0.052392542362213135, "tilt_rad": 0.08726835821179191, "wheel_position_rad": [1.68533456325531, 1.682778239250183, 1.6843069791793823, 1.6831735372543335], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2355546169805167, "forward_m_s": 0.6011479087972641, "normal_height_m": 0.13227661253833242, "ground_tilt_rad": 2.019203564684554e-06}
{"seq": 93, "t_s": 1.504, "x_m": 0.2557685077190399, "y_m": -8.42865338199772e-05, "z_m": 0.11040505766868591, "vx_m_s": 0.598860502243042, "vy_m_s": 0.00014107365859672427, "vz_m_s": -0.05239293724298477, "tilt_rad": 0.08726835129363912, "wheel_position_rad": [1.743550181388855, 1.740991473197937, 1.7425360679626465, 1.7414028644561768], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2451727965243329, "forward_m_s": 0.6011480025912221, "normal_height_m": 0.13227662735377138, "ground_tilt_rad": 2.01264992675048e-06}
{"seq": 94, "t_s": 1.52, "x_m": 0.2653501033782959, "y_m": -8.201408491004258e-05, "z_m": 0.10956677794456482, "vx_m_s": 0.5988604426383972, "vy_m_s": 0.00014270002429839224, "vz_m_s": -0.052393168210983276, "tilt_rad": 0.08726834429885333, "wheel_position_rad": [1.8017659187316895, 1.7992048263549805, 1.8007651567459106, 1.7996323108673096], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.25479099221132867, "forward_m_s": 0.6011479633435786, "normal_height_m": 0.13227662862347433, "ground_tilt_rad": 2.0038599340936007e-06}
{"seq": 95, "t_s": 1.536, "x_m": 0.2749316990375519, "y_m": -7.971638842718676e-05, "z_m": 0.10872850567102432, "vx_m_s": 0.5988603830337524, "vy_m_s": 0.0001442914071958512, "vz_m_s": -0.05239329859614372, "tilt_rad": 0.08726833722732881, "wheel_position_rad": [1.8599815368652344, 1.857418179512024, 1.8589942455291748, 1.8578617572784424], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2644091872489635, "forward_m_s": 0.6011479153295628, "normal_height_m": 0.13227663731540618, "ground_tilt_rad": 1.9936394930276076e-06}
{"seq": 96, "t_s": 1.552, "x_m": 0.2845132648944855, "y_m": -7.739366265013814e-05, "z_m": 0.10789022594690323, "vx_m_s": 0.5988602638244629, "vy_m_s": 0.00014586183533538133, "vz_m_s": -0.05239336937665939, "tilt_rad": 0.08726833007912156, "wheel_position_rad": [1.9181971549987793, 1.9156315326690674, 1.917223334312439, 1.9160912036895752], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2740273532470438, "forward_m_s": 0.601147802742829, "normal_height_m": 0.13227663598766556, "ground_tilt_rad": 1.982638555306821e-06}
{"seq": 97, "t_s": 1.568, "x_m": 0.29409486055374146, "y_m": -7.504606037400663e-05, "z_m": 0.10705194622278214, "vx_m_s": 0.5988601446151733, "vy_m_s": 0.00014741958875674754, "vz_m_s": -0.052393410354852676, "tilt_rad": 0.08726832285428637, "wheel_position_rad": [1.9764127731323242, 1.9738450050354004, 1.9754524230957031, 1.9743205308914185], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.28364554893403954, "forward_m_s": 0.6011476875586517, "normal_height_m": 0.13227663725736852, "ground_tilt_rad": 1.9712946585414954e-06}
{"seq": 98, "t_s": 1.584, "x_m": 0.30367645621299744, "y_m": -7.267366163432598e-05, "z_m": 0.10621366649866104, "vx_m_s": 0.5988600254058838, "vy_m_s": 0.00014896962966304272, "vz_m_s": -0.05239342525601387, "tilt_rad": 0.08726831555281683, "wheel_position_rad": [2.034628391265869, 2.0320584774017334, 2.033681631088257, 2.0325498580932617], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 3.634161114476075, "along_m": 0.2932637446210353, "forward_m_s": 0.6011475701017113, "normal_height_m": 0.13227663852707147, "ground_tilt_rad": 1.9597718059482068e-06}
{"seq": 99, "t_s": 1.6, "x_m": 0.31325802206993103, "y_m": -7.027651008684188e-05, "z_m": 0.10537538677453995, "vx_m_s": 0.5988599061965942, "vy_m_s": 0.0001505148393334821, "vz_m_s": -0.052393436431884766, "tilt_rad": 0.08726830817471419, "wheel_position_rad": [2.092844009399414, 2.0902719497680664, 2.0919106006622314, 2.0907793045043945], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3028819106191155, "forward_m_s": 0.6011474523200904, "normal_height_m": 0.1322766371993309, "ground_tilt_rad": 1.948237787486344e-06}
{"seq": 100, "t_s": 1.616, "x_m": 0.3226666748523712, "y_m": -6.857475091237575e-05, "z_m": 0.10463546216487885, "vx_m_s": 0.5812599062919617, "vy_m_s": -0.0006110910326242447, "vz_m_s": -0.05256225913763046, "tilt_rad": 0.08732566779124512, "wheel_position_rad": [2.137031316757202, 2.1343977451324463, 2.136406898498535, 2.1348931789398193], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.31231924931610083, "forward_m_s": 0.5836291395969921, "normal_height_m": 0.13235954634770727, "ground_tilt_rad": 5.9552525675184366e-05}
{"seq": 101, "t_s": 1.6320000000000001, "x_m": 0.3318113088607788, "y_m": -4.511582665145397e-05, "z_m": 0.10384092479944229, "vx_m_s": 0.5639649033546448, "vy_m_s": -4.824099596589804e-05, "vz_m_s": -0.05408772453665733, "tilt_rad": 0.08731193200740328, "wheel_position_rad": [2.1561777591705322, 2.153485059738159, 2.156463861465454, 2.1537868976593018], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.32149833372549136, "forward_m_s": 0.5665329024372439, "normal_height_m": 0.13236503980598185, "ground_tilt_rad": 0.00020756007884149285}
{"seq": 102, "t_s": 1.6480000000000001, "x_m": 0.34065011143684387, "y_m": -5.0460210331948474e-05, "z_m": 0.10312037169933319, "vx_m_s": 0.5456551909446716, "vy_m_s": -0.001962006092071533, "vz_m_s": -0.04877709969878197, "tilt_rad": 0.08748929834159373, "wheel_position_rad": [2.1575467586517334, 2.1548519134521484, 2.1582815647125244, 2.1550586223602295], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3303663023298762, "forward_m_s": 0.5478300125586448, "normal_height_m": 0.13241758103147647, "ground_tilt_rad": 0.000255648891635871}
{"seq": 103, "t_s": 1.6640000000000001, "x_m": 0.3492341637611389, "y_m": -9.406093886354938e-05, "z_m": 0.10223937779664993, "vx_m_s": 0.5263975262641907, "vy_m_s": 0.00016025456716306508, "vz_m_s": -0.02072533592581749, "tilt_rad": 0.08760656893534363, "wheel_position_rad": [2.157633066177368, 2.154994249343872, 2.1585781574249268, 2.1552298069000244], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3389944734214256, "forward_m_s": 0.5262007567993064, "normal_height_m": 0.13228808903268094, "ground_tilt_rad": 0.000474482088458376}
{"seq": 104, "t_s": 1.68, "x_m": 0.3576047420501709, "y_m": -6.976992881391197e-05, "z_m": 0.10146620124578476, "vx_m_s": 0.5105319619178772, "vy_m_s": 0.0014406712725758553, "vz_m_s": -0.04448001831769943, "tilt_rad": 0.0869891350923961, "wheel_position_rad": [2.1576907634735107, 2.1551482677459717, 2.1589303016662598, 2.1552886962890625], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3474005859094868, "forward_m_s": 0.5124659227028748, "normal_height_m": 0.1322473986200282, "ground_tilt_rad": 0.00029999298796270287}
{"seq": 105, "t_s": 1.696, "x_m": 0.3656015396118164, "y_m": -7.778465078445151e-05, "z_m": 0.10080796480178833, "vx_m_s": 0.4947887361049652, "vy_m_s": 0.0019230544567108154, "vz_m_s": -0.04687901958823204, "tilt_rad": 0.0871835791792797, "wheel_position_rad": [2.15788197517395, 2.1552534103393555, 2.159130573272705, 2.1555075645446777], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.35542432232829113, "forward_m_s": 0.49699169135477655, "normal_height_m": 0.13228863379551606, "ground_tilt_rad": 0.00023314898238954032}
{"seq": 106, "t_s": 1.712, "x_m": 0.3733469247817993, "y_m": -5.849811714142561e-05, "z_m": 0.1000814139842987, "vx_m_s": 0.4796849191188812, "vy_m_s": 0.0010157804936170578, "vz_m_s": -0.06914634257555008, "tilt_rad": 0.08720266146866215, "wheel_position_rad": [2.1580417156219482, 2.155367612838745, 2.1593410968780518, 2.1556403636932373], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.36320355704544877, "forward_m_s": 0.48388607402625333, "normal_height_m": 0.13223990252059525, "ground_tilt_rad": 8.124353735855772e-05}
{"seq": 107, "t_s": 1.728, "x_m": 0.38081756234169006, "y_m": -5.507819150807336e-05, "z_m": 0.09946783632040024, "vx_m_s": 0.4586215019226074, "vy_m_s": -0.00022174767218530178, "vz_m_s": -0.04611166566610336, "tilt_rad": 0.08706581123540026, "wheel_position_rad": [2.158247709274292, 2.155470371246338, 2.1596133708953857, 2.155836582183838], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3706992433910074, "forward_m_s": 0.46089520511663573, "normal_height_m": 0.1322797686702829, "ground_tilt_rad": 0.00020466161248607414}
{"seq": 108, "t_s": 1.744, "x_m": 0.3880012631416321, "y_m": -5.349926868802868e-05, "z_m": 0.09883757680654526, "vx_m_s": 0.441803514957428, "vy_m_s": 0.0006614222656935453, "vz_m_s": -0.042311299592256546, "tilt_rad": 0.0870356722832111, "wheel_position_rad": [2.1584110260009766, 2.1555733680725098, 2.159846544265747, 2.156022787094116], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.37791053877664094, "forward_m_s": 0.44380999194146875, "normal_height_m": 0.13227800826305458, "ground_tilt_rad": 0.0002358494251583581}
{"seq": 109, "t_s": 1.76, "x_m": 0.3948856294155121, "y_m": -6.355837831506506e-05, "z_m": 0.09823771566152573, "vx_m_s": 0.4232628047466278, "vy_m_s": 0.00036270555574446917, "vz_m_s": -0.029546936973929405, "tilt_rad": 0.08718353343970972, "wheel_position_rad": [2.1586408615112305, 2.1556310653686523, 2.1600053310394287, 2.1562602519989014], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.38482098930204145, "forward_m_s": 0.42422734722591343, "normal_height_m": 0.1322804418267418, "ground_tilt_rad": 0.00019134426199350532}
{"seq": 110, "t_s": 1.776, "x_m": 0.4014929533004761, "y_m": -5.977261025691405e-05, "z_m": 0.09771285951137543, "vx_m_s": 0.4053706228733063, "vy_m_s": 0.0006056174170225859, "vz_m_s": -0.0401553139090538, "tilt_rad": 0.0872491419963389, "wheel_position_rad": [2.158853530883789, 2.1556880474090576, 2.1602466106414795, 2.1564695835113525], "contacts": 1, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3914489145524196, "forward_m_s": 0.40732783147754514, "normal_height_m": 0.13233344913346962, "ground_tilt_rad": 0.00015971576899323543}
{"seq": 111, "t_s": 1.792, "x_m": 0.407825231552124, "y_m": -5.322661672835238e-05, "z_m": 0.09709157794713974, "vx_m_s": 0.3899611532688141, "vy_m_s": 0.0001115483173634857, "vz_m_s": -0.039767928421497345, "tilt_rad": 0.08739112839857548, "wheel_position_rad": [2.158884048461914, 2.1558852195739746, 2.160543441772461, 2.1565771102905273], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3978112448297393, "forward_m_s": 0.39194323668724645, "normal_height_m": 0.1322664261474631, "ground_tilt_rad": 0.00017143241338459287}
{"seq": 112, "t_s": 1.808, "x_m": 0.4139115810394287, "y_m": -4.6689605369465426e-05, "z_m": 0.09652246534824371, "vx_m_s": 0.370414674282074, "vy_m_s": 0.00041942368261516094, "vz_m_s": -0.02238464169204235, "tilt_rad": 0.08716432733561773, "wheel_position_rad": [2.1590065956115723, 2.156045913696289, 2.16085147857666, 2.156696081161499], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4039240353509895, "forward_m_s": 0.3709560846879931, "normal_height_m": 0.13222993950401352, "ground_tilt_rad": 0.00012778769136203463}
{"seq": 113, "t_s": 1.824, "x_m": 0.41967883706092834, "y_m": -2.8768890842911787e-05, "z_m": 0.09604348242282867, "vx_m_s": 0.3557286858558655, "vy_m_s": -0.00021831784397363663, "vz_m_s": -0.044840678572654724, "tilt_rad": 0.08724903009757554, "wheel_position_rad": [2.1591668128967285, 2.156147003173828, 2.1610777378082275, 2.156857967376709], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4097110913347731, "forward_m_s": 0.35828315345506606, "normal_height_m": 0.1322554287354083, "ground_tilt_rad": 7.918388870014682e-05}
{"seq": 114, "t_s": 1.84, "x_m": 0.4251600205898285, "y_m": -3.4790988138411194e-05, "z_m": 0.09559860080480576, "vx_m_s": 0.3350306451320648, "vy_m_s": -0.00012047332711517811, "vz_m_s": -0.016754362732172012, "tilt_rad": 0.08737468692664664, "wheel_position_rad": [2.159357786178589, 2.156261444091797, 2.161315441131592, 2.157052516937256], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4152101912933848, "forward_m_s": 0.3352159913070062, "normal_height_m": 0.13228995664785292, "ground_tilt_rad": 0.00010842071373224249}
{"seq": 115, "t_s": 1.856, "x_m": 0.4303807318210602, "y_m": -2.3017915737000294e-05, "z_m": 0.09516670554876328, "vx_m_s": 0.3195139467716217, "vy_m_s": -0.00042883120477199554, "vz_m_s": -0.03984295204281807, "tilt_rad": 0.08732004021680156, "wheel_position_rad": [2.1595005989074707, 2.1564104557037354, 2.1615896224975586, 2.157165050506592], "contacts": 1, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4204486782940354, "forward_m_s": 0.3217706418188089, "normal_height_m": 0.13231471984868146, "ground_tilt_rad": 0.00010168618567147542}
{"seq": 116, "t_s": 1.872, "x_m": 0.4353204667568207, "y_m": -1.866138518380467e-05, "z_m": 0.0947338417172432, "vx_m_s": 0.30190449953079224, "vy_m_s": -0.0004653558135032654, "vz_m_s": -0.03657626733183861, "tilt_rad": 0.08729817304481545, "wheel_position_rad": [2.1596016883850098, 2.156595230102539, 2.1618947982788086, 2.1572680473327637], "contacts": 1, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4254073426157633, "forward_m_s": 0.3039434935088604, "normal_height_m": 0.13231402946202825, "ground_tilt_rad": 0.00011041616666179636}
{"seq": 117, "t_s": 1.8880000000000001, "x_m": 0.4399740695953369, "y_m": -1.1837280908366665e-05, "z_m": 0.09431803971529007, "vx_m_s": 0.28460103273391724, "vy_m_s": -0.00046498747542500496, "vz_m_s": -0.03679794445633888, "tilt_rad": 0.08734183983773729, "wheel_position_rad": [2.159703493118286, 2.156773567199707, 2.162193775177002, 2.157369613647461], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4300794766228341, "forward_m_s": 0.286725192061643, "normal_height_m": 0.1323053979240701, "ground_tilt_rad": 0.00016746877778417926}
{"seq": 118, "t_s": 1.9040000000000001, "x_m": 0.44433683156967163, "y_m": -3.697565625770949e-05, "z_m": 0.09390055388212204, "vx_m_s": 0.2648167610168457, "vy_m_s": 0.0005161981098353863, "vz_m_s": -0.010904996655881405, "tilt_rad": 0.087505599015272, "wheel_position_rad": [2.1598713397979736, 2.1568541526794434, 2.162428379058838, 2.1575894355773926], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.43446202325857897, "forward_m_s": 0.26475948637401464, "normal_height_m": 0.13226974051084406, "ground_tilt_rad": 0.0002692822177187254}
{"seq": 119, "t_s": 1.92, "x_m": 0.4484633803367615, "y_m": -9.626393193684635e-07, "z_m": 0.0935056284070015, "vx_m_s": 0.2485940009355545, "vy_m_s": 0.0008250679820775986, "vz_m_s": -0.021894773468375206, "tilt_rad": 0.08725438435778078, "wheel_position_rad": [2.1599373817443848, 2.1570374965667725, 2.1627559661865234, 2.1576695442199707], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.438607289284885, "forward_m_s": 0.24955628095334179, "normal_height_m": 0.13223597026916778, "ground_tilt_rad": 0.00021008945866399453}
{"seq": 120, "t_s": 1.936, "x_m": 0.45229169726371765, "y_m": 1.445107045583427e-05, "z_m": 0.09317999333143234, "vx_m_s": 0.23061774671077728, "vy_m_s": -0.00042644236236810684, "vz_m_s": -0.021055717021226883, "tilt_rad": 0.08712303885340536, "wheel_position_rad": [2.160050868988037, 2.1572105884552, 2.16306471824646, 2.1577627658843994], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.44244941927700954, "forward_m_s": 0.23157530321521094, "normal_height_m": 0.1322452341386154, "ground_tilt_rad": 0.0003682305488482233}
{"seq": 121, "t_s": 1.952, "x_m": 0.45577406883239746, "y_m": -3.532642949721776e-05, "z_m": 0.09285403043031693, "vx_m_s": 0.2154950052499771, "vy_m_s": 0.0005894207861274481, "vz_m_s": -0.030429134145379066, "tilt_rad": 0.08764990539870722, "wheel_position_rad": [2.160054922103882, 2.1574199199676514, 2.1633949279785156, 2.1578524112701416], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.44594694890926867, "forward_m_s": 0.21732705548288872, "normal_height_m": 0.1322240203053412, "ground_tilt_rad": 0.0004231843556163581}
{"seq": 122, "t_s": 1.968, "x_m": 0.4590553045272827, "y_m": -1.0818718692462426e-05, "z_m": 0.09266756474971771, "vx_m_s": 0.1959393322467804, "vy_m_s": -0.001088661141693592, "vz_m_s": -0.02872864529490471, "tilt_rad": 0.08728721431716946, "wheel_position_rad": [2.1601405143737793, 2.157667398452759, 2.1638269424438477, 2.157869338989258], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4492319500665924, "forward_m_s": 0.19769759035069104, "normal_height_m": 0.13232424271707005, "ground_tilt_rad": 4.5081864327771855e-05}
{"seq": 123, "t_s": 1.984, "x_m": 0.46208664774894714, "y_m": 7.797028956701979e-06, "z_m": 0.09231339395046234, "vx_m_s": 0.17839676141738892, "vy_m_s": 0.00021669865236617625, "vz_m_s": -0.011574763804674149, "tilt_rad": 0.08683245628241001, "wheel_position_rad": [2.160151243209839, 2.15788197517395, 2.1641910076141357, 2.157970905303955], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4522826261311795, "forward_m_s": 0.178726715017266, "normal_height_m": 0.13223561861464017, "ground_tilt_rad": 0.0004785104795772288}
{"seq": 124, "t_s": 2.0, "x_m": 0.46470126509666443, "y_m": -4.201883348287083e-05, "z_m": 0.09215617179870605, "vx_m_s": 0.15967102348804474, "vy_m_s": 0.0004230204503983259, "vz_m_s": -0.007776105310767889, "tilt_rad": 0.08751651801496868, "wheel_position_rad": [2.1601858139038086, 2.158114433288574, 2.1645712852478027, 2.158020496368408], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4549009968839268, "forward_m_s": 0.15974115927171673, "normal_height_m": 0.1323068736575792, "ground_tilt_rad": 0.000403910821718076}
{"seq": 125, "t_s": 2.016, "x_m": 0.4671691060066223, "y_m": 5.566951585933566e-06, "z_m": 0.09189636260271072, "vx_m_s": 0.14185598492622375, "vy_m_s": 0.00017172808293253183, "vz_m_s": -0.0015598662430420518, "tilt_rad": 0.08704640624529773, "wheel_position_rad": [2.1602423191070557, 2.158320665359497, 2.164931535720825, 2.1580889225006104], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4573820907776104, "forward_m_s": 0.141452131377086, "normal_height_m": 0.1322631396215036, "ground_tilt_rad": 0.0002561597179639079}
{"seq": 126, "t_s": 2.032, "x_m": 0.4692677855491638, "y_m": -1.408638581779087e-05, "z_m": 0.09169953316450119, "vx_m_s": 0.12483622133731842, "vy_m_s": 0.00022582043311558664, "vz_m_s": -0.0039930217899382114, "tilt_rad": 0.08739097869797877, "wheel_position_rad": [2.160327196121216, 2.1585090160369873, 2.1652350425720215, 2.1581809520721436], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4594899390267656, "forward_m_s": 0.12470919660595389, "normal_height_m": 0.13224997115305043, "ground_tilt_rad": 0.00015253902998772393}
{"seq": 127, "t_s": 2.048, "x_m": 0.47116318345069885, "y_m": 1.1605009603954386e-05, "z_m": 0.09148705750703812, "vx_m_s": 0.10793700814247131, "vy_m_s": 0.00018032385560218245, "vz_m_s": -0.009111915715038776, "tilt_rad": 0.08703268212494551, "wheel_position_rad": [2.1603875160217285, 2.1587119102478027, 2.165574550628662, 2.1582424640655518], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46139664284079107, "forward_m_s": 0.10832043102141375, "normal_height_m": 0.13220349884152277, "ground_tilt_rad": 0.00027417729570093516}
{"seq": 128, "t_s": 2.064, "x_m": 0.47269824147224426, "y_m": -6.156566996651236e-06, "z_m": 0.09141238778829575, "vx_m_s": 0.09120602160692215, "vy_m_s": 0.0009639323689043522, "vz_m_s": -0.0095636285841465, "tilt_rad": 0.08732543317148216, "wheel_position_rad": [2.160383939743042, 2.158966541290283, 2.165964365005493, 2.158292531967163], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46293236739791555, "forward_m_s": 0.09169248031147105, "normal_height_m": 0.13226290238563215, "ground_tilt_rad": 8.220327780861137e-05}
{"seq": 129, "t_s": 2.08, "x_m": 0.4739921987056732, "y_m": -6.909321541570534e-07, "z_m": 0.0912950411438942, "vx_m_s": 0.07310891151428223, "vy_m_s": -0.0001936475746333599, "vz_m_s": -0.01203013677150011, "tilt_rad": 0.08732543709447808, "wheel_position_rad": [2.1604275703430176, 2.159210681915283, 2.166353702545166, 2.158308744430542], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4642316281673667, "forward_m_s": 0.07387920553946253, "normal_height_m": 0.1322587780844037, "ground_tilt_rad": 6.138525894236828e-05}
{"seq": 130, "t_s": 2.096, "x_m": 0.4750097393989563, "y_m": 1.0875804036913905e-05, "z_m": 0.09119279682636261, "vx_m_s": 0.0555303581058979, "vy_m_s": 3.5918550565838814e-05, "vz_m_s": -0.00238023791462183, "tilt_rad": 0.08730904619089153, "wheel_position_rad": [2.160494565963745, 2.1594057083129883, 2.1666760444641113, 2.158412218093872], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4652542079905441, "forward_m_s": 0.055526499731596485, "normal_height_m": 0.13224560735226776, "ground_tilt_rad": 9.932358798069453e-05}
{"seq": 131, "t_s": 2.112, "x_m": 0.4757755696773529, "y_m": -7.562844984931871e-06, "z_m": 0.09109854698181152, "vx_m_s": 0.038615643978118896, "vy_m_s": 0.0003137434832751751, "vz_m_s": -0.014425386674702168, "tilt_rad": 0.08701916497665846, "wheel_position_rad": [2.1607069969177246, 2.1594531536102295, 2.166883707046509, 2.158611536026001], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46602533846872657, "forward_m_s": 0.039725955084456324, "normal_height_m": 0.1322184626635623, "ground_tilt_rad": 0.000267316907873876}
{"seq": 132, "t_s": 2.128, "x_m": 0.4762588143348694, "y_m": -1.3899891200708225e-05, "z_m": 0.09101994335651398, "vx_m_s": 0.022762052714824677, "vy_m_s": -0.002268389333039522, "vz_m_s": -0.0009640234638936818, "tilt_rad": 0.08696722402523205, "wheel_position_rad": [2.1610326766967773, 2.1594491004943848, 2.1669158935546875, 2.1589224338531494], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46651359499177114, "forward_m_s": 0.022759456413214987, "normal_height_m": 0.1321822756958448, "ground_tilt_rad": 0.000299297013039241}
{"seq": 133, "t_s": 2.144, "x_m": 0.47646188735961914, "y_m": -3.004174868692644e-05, "z_m": 0.09103942662477493, "vx_m_s": 0.007752683013677597, "vy_m_s": -0.0005847609718330204, "vz_m_s": 0.0012618948239833117, "tilt_rad": 0.0871180128286918, "wheel_position_rad": [2.1612350940704346, 2.1595096588134766, 2.167085647583008, 2.1591413021087646], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4667141971836359, "forward_m_s": 0.007613200333557867, "normal_height_m": 0.13221938380469195, "ground_tilt_rad": 0.00017050135651757925}
{"seq": 134, "t_s": 2.16, "x_m": 0.47652536630630493, "y_m": -3.0990999221103266e-05, "z_m": 0.09105760604143143, "vx_m_s": 0.002871024189516902, "vy_m_s": 0.00029356576851569116, "vz_m_s": 0.001006526406854391, "tilt_rad": 0.08718643848788488, "wheel_position_rad": [2.161325216293335, 2.1595938205718994, 2.16721510887146, 2.1592700481414795], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4667758501332033, "forward_m_s": 0.0027723745191053626, "normal_height_m": 0.13224302659792678, "ground_tilt_rad": 0.00010596254915839528}
{"seq": 135, "t_s": 2.176, "x_m": 0.4765556752681732, "y_m": -2.8274787837290205e-05, "z_m": 0.09106865525245667, "vx_m_s": 0.0018095873529091477, "vy_m_s": 0.000331670802552253, "vz_m_s": 0.0006052540265955031, "tilt_rad": 0.08722199169737974, "wheel_position_rad": [2.1613874435424805, 2.1596713066101074, 2.167313814163208, 2.1593618392944336], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4668050807581275, "forward_m_s": 0.0017499499624630275, "normal_height_m": 0.13225667536345176, "ground_tilt_rad": 6.355403596845766e-05}
{"seq": 136, "t_s": 2.192, "x_m": 0.4765792191028595, "y_m": -2.587402741482947e-05, "z_m": 0.09107454866170883, "vx_m_s": 0.0015183406649157405, "vy_m_s": 0.00023581989808008075, "vz_m_s": 0.00032262393506243825, "tilt_rad": 0.08724112667964798, "wheel_position_rad": [2.161444664001465, 2.15974760055542, 2.16740345954895, 2.1594464778900146], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.466828021356954, "forward_m_s": 0.0014844443915976173, "normal_height_m": 0.13226459832690166, "ground_tilt_rad": 3.7126903241446206e-05}
{"seq": 137, "t_s": 2.208, "x_m": 0.4766002893447876, "y_m": -2.4341434254893102e-05, "z_m": 0.09107750654220581, "vx_m_s": 0.0013307073386386037, "vy_m_s": 0.00013411568943411112, "vz_m_s": 0.00016264607256744057, "tilt_rad": 0.0872520563518496, "wheel_position_rad": [2.1615071296691895, 2.1598198413848877, 2.167490005493164, 2.1595306396484375], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46684875362397865, "forward_m_s": 0.0013114680562039491, "normal_height_m": 0.13226938134435545, "ground_tilt_rad": 2.1477991201297873e-05}
{"seq": 138, "t_s": 2.224, "x_m": 0.47661980986595154, "y_m": -2.3467922801501118e-05, "z_m": 0.0910787433385849, "vx_m_s": 0.0012426740722730756, "vy_m_s": 7.736802945146337e-05, "vz_m_s": 5.892026820220053e-05, "tilt_rad": 0.08726025044347892, "wheel_position_rad": [2.161574602127075, 2.15988826751709, 2.167573928833008, 2.159614086151123], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46686809206975904, "forward_m_s": 0.0012328100825164626, "normal_height_m": 0.13227231475987178, "ground_tilt_rad": 1.142690763531434e-05}
{"seq": 139, "t_s": 2.24, "x_m": 0.47663870453834534, "y_m": -2.295758531545289e-05, "z_m": 0.09107885509729385, "vx_m_s": 0.001201856299303472, "vy_m_s": 4.5398501242743805e-05, "vz_m_s": -5.4406982599175535e-06, "tilt_rad": 0.08726297755198972, "wheel_position_rad": [2.1616435050964355, 2.1599555015563965, 2.167656898498535, 2.1596970558166504], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46688690510180664, "forward_m_s": 0.001197757061332194, "normal_height_m": 0.13227407287251156, "ground_tilt_rad": 6.855943135918589e-06}
{"seq": 140, "t_s": 2.2560000000000002, "x_m": 0.47665730118751526, "y_m": -2.2655451175523922e-05, "z_m": 0.09107828140258789, "vx_m_s": 0.0011799597414210439, "vy_m_s": 2.6855794203584082e-05, "vz_m_s": -4.415008152136579e-05, "tilt_rad": 0.08726570448895542, "wheel_position_rad": [2.161712408065796, 2.160022497177124, 2.1677396297454834, 2.1597800254821777], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46690548098590023, "forward_m_s": 0.0011793175715127152, "normal_height_m": 0.13227512216565818, "ground_tilt_rad": 3.8133000258762843e-06}
{"seq": 141, "t_s": 2.2720000000000002, "x_m": 0.47667574882507324, "y_m": -2.2474883735412732e-05, "z_m": 0.0910772904753685, "vx_m_s": 0.0011674173874780536, "vy_m_s": 1.5972336768754758e-05, "vz_m_s": -6.71754969516769e-05, "tilt_rad": 0.08726569839219113, "wheel_position_rad": [2.1617815494537354, 2.1600892543792725, 2.1678221225738525, 2.159862995147705], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4669239447896256, "forward_m_s": 0.0011688297421970203, "normal_height_m": 0.13227574282676935, "ground_tilt_rad": 2.5747119605968493e-06}
{"seq": 142, "t_s": 2.2880000000000003, "x_m": 0.4766940772533417, "y_m": -2.2365842596627772e-05, "z_m": 0.09107605367898941, "vx_m_s": 0.0011600772850215435, "vy_m_s": 9.554767530062236e-06, "vz_m_s": -8.081847772700712e-05, "tilt_rad": 0.08726569225501225, "wheel_position_rad": [2.161850690841675, 2.16015625, 2.1679046154022217, 2.1599459648132324], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.466942311266598, "forward_m_s": 0.0011627066351691607, "normal_height_m": 0.13227610816455299, "ground_tilt_rad": 1.8691901611383432e-06}
{"seq": 143, "t_s": 2.3040000000000003, "x_m": 0.4767123758792877, "y_m": -2.2299011106952094e-05, "z_m": 0.09107466787099838, "vx_m_s": 0.0011557522229850292, "vy_m_s": 5.76405454921769e-06, "vz_m_s": -8.889076707419008e-05, "tilt_rad": 0.08726841897567238, "wheel_position_rad": [2.161919593811035, 2.1602232456207275, 2.167987108230591, 2.1600286960601807], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4669606610418726, "forward_m_s": 0.0011591015776731951, "normal_height_m": 0.13227632246031537, "ground_tilt_rad": 2.3249154431274422e-06}
{"seq": 144, "t_s": 2.32, "x_m": 0.4767306447029114, "y_m": -2.2257112505030818e-05, "z_m": 0.09107320010662079, "vx_m_s": 0.0011531980708241463, "vy_m_s": 3.5237640076957177e-06, "vz_m_s": -9.366446465719491e-05, "tilt_rad": 0.08726841272786545, "wheel_position_rad": [2.1619887351989746, 2.160290002822876, 2.16806960105896, 2.160111665725708], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4669789882712014, "forward_m_s": 0.0011569731999909036, "normal_height_m": 0.1322764525141164, "ground_tilt_rad": 2.1877827825828333e-06}
{"seq": 145, "t_s": 2.336, "x_m": 0.47674888372421265, "y_m": -2.2229944079299457e-05, "z_m": 0.09107168018817902, "vx_m_s": 0.001151688047684729, "vy_m_s": 2.1997605017531896e-06, "vz_m_s": -9.648690320318565e-05, "tilt_rad": 0.0872684064140327, "wheel_position_rad": [2.162057638168335, 2.1603569984436035, 2.168152093887329, 2.1601943969726562], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4669972903571408, "forward_m_s": 0.0011557149146732555, "normal_height_m": 0.13227652801487166, "ground_tilt_rad": 2.115807477039257e-06}
{"seq": 146, "t_s": 2.352, "x_m": 0.47676709294319153, "y_m": -2.221147224190645e-05, "z_m": 0.09107013046741486, "vx_m_s": 0.0011507952585816383, "vy_m_s": 1.4175442402120098e-06, "vz_m_s": -9.81555349426344e-05, "tilt_rad": 0.08726840003032085, "wheel_position_rad": [2.1621267795562744, 2.160423994064331, 2.1682345867156982, 2.1602773666381836], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4670155653516082, "forward_m_s": 0.0011549709537408666, "normal_height_m": 0.13227657122926784, "ground_tilt_rad": 2.075063608352224e-06}
{"seq": 147, "t_s": 2.368, "x_m": 0.4767853319644928, "y_m": -2.2198131773620844e-05, "z_m": 0.0910685583949089, "vx_m_s": 0.0011502673150971532, "vy_m_s": 9.557397788739763e-07, "vz_m_s": -9.914200200000778e-05, "tilt_rad": 0.08726839357425867, "wheel_position_rad": [2.1621956825256348, 2.1604907512664795, 2.1683168411254883, 2.160360097885132], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46703387198307383, "forward_m_s": 0.0011545309955098117, "normal_height_m": 0.1322765947744209, "ground_tilt_rad": 2.0500878717807355e-06}
{"seq": 148, "t_s": 2.384, "x_m": 0.4768035411834717, "y_m": -2.2187814465723932e-05, "z_m": 0.09106698632240295, "vx_m_s": 0.0011499548563733697, "vy_m_s": 6.834378609710257e-07, "vz_m_s": -9.972516272682697e-05, "tilt_rad": 0.08726838704432649, "wheel_position_rad": [2.162264823913574, 2.160557746887207, 2.1683993339538574, 2.16044282913208], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46705214892562386, "forward_m_s": 0.0011542705515920934, "normal_height_m": 0.13227661572213043, "ground_tilt_rad": 2.0332305463217047e-06}
{"seq": 149, "t_s": 2.4, "x_m": 0.47682175040245056, "y_m": -2.2179268853506073e-05, "z_m": 0.09106539934873581, "vx_m_s": 0.0011497701052576303, "vy_m_s": 5.232172952673864e-07, "vz_m_s": -0.00010006992670241743, "tilt_rad": 0.08726838043970905, "wheel_position_rad": [2.1623337268829346, 2.1606247425079346, 2.1684818267822266, 2.1605257987976074], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46707042716689573, "forward_m_s": 0.0011541165516704924, "normal_height_m": 0.13227662182538216, "ground_tilt_rad": 2.0208523879250965e-06}
{"seq": 150, "t_s": 2.416, "x_m": 0.47683998942375183, "y_m": -2.217176188423764e-05, "z_m": 0.09106381237506866, "vx_m_s": 0.0011496607912704349, "vy_m_s": 4.2928891730298346e-07, "vz_m_s": -0.00010027372627519071, "tilt_rad": 0.08726837375985734, "wheel_position_rad": [2.162402868270874, 2.160691499710083, 2.1685643196105957, 2.1606085300445557], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4670887350970831, "forward_m_s": 0.0011540254159591577, "normal_height_m": 0.13227663052607744, "ground_tilt_rad": 2.0109943782867613e-06}
{"seq": 151, "t_s": 2.432, "x_m": 0.4768581986427307, "y_m": -2.216485154349357e-05, "z_m": 0.09106221795082092, "vx_m_s": 0.001149596180766821, "vy_m_s": 3.745684580280795e-07, "vz_m_s": -0.00010039420885732397, "tilt_rad": 0.08726836700450129, "wheel_position_rad": [2.1624717712402344, 2.1607584953308105, 2.168646812438965, 2.160691499710083], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4671070139877158, "forward_m_s": 0.0011539715520669505, "normal_height_m": 0.1322766292071003, "ground_tilt_rad": 2.0023634612958335e-06}
{"seq": 152, "t_s": 2.448, "x_m": 0.4768764078617096, "y_m": -2.215828499174677e-05, "z_m": 0.09106063097715378, "vx_m_s": 0.001149557763710618, "vy_m_s": 3.430386357194948e-07, "vz_m_s": -0.00010046543320640922, "tilt_rad": 0.08726836017339376, "wheel_position_rad": [2.162540912628174, 2.160825252532959, 2.168729066848755, 2.1607742309570312], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46712529222898763, "forward_m_s": 0.0011539394888102912, "normal_height_m": 0.13227663531035203, "ground_tilt_rad": 1.9947529471736295e-06}
{"seq": 153, "t_s": 2.464, "x_m": 0.4768946170806885, "y_m": -2.2151905795908533e-05, "z_m": 0.09105903655290604, "vx_m_s": 0.0011495350627228618, "vy_m_s": 3.252247893215099e-07, "vz_m_s": -0.00010050753189716488, "tilt_rad": 0.08726835326644301, "wheel_position_rad": [2.162609815597534, 2.1608922481536865, 2.168811559677124, 2.1608572006225586], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4671435711196204, "forward_m_s": 0.0011539205433493084, "normal_height_m": 0.13227663399137488, "ground_tilt_rad": 1.9874484841154204e-06}
{"seq": 154, "t_s": 2.48, "x_m": 0.47691282629966736, "y_m": -2.2145626644487493e-05, "z_m": 0.0910574421286583, "vx_m_s": 0.0011495215585455298, "vy_m_s": 3.1552366408504895e-07, "vz_m_s": -0.00010053241567220539, "tilt_rad": 0.08726834628355351, "wheel_position_rad": [2.1626789569854736, 2.160959243774414, 2.168894052505493, 2.160939931869507], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46716185001025307, "forward_m_s": 0.001153909259323344, "normal_height_m": 0.13227663267239773, "ground_tilt_rad": 1.9803973987036313e-06}
{"seq": 155, "t_s": 2.496, "x_m": 0.47693103551864624, "y_m": -2.2139391148812138e-05, "z_m": 0.09105584770441055, "vx_m_s": 0.0011495136423036456, "vy_m_s": 3.106206634129194e-07, "vz_m_s": -0.00010054712038254365, "tilt_rad": 0.08726833922472521, "wheel_position_rad": [2.162747859954834, 2.1610260009765625, 2.1689765453338623, 2.161022901535034], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46718012890088584, "forward_m_s": 0.001153902654805102, "normal_height_m": 0.13227663135342058, "ground_tilt_rad": 1.973321118462866e-06}
{"seq": 156, "t_s": 2.512, "x_m": 0.4769492447376251, "y_m": -2.213317020505201e-05, "z_m": 0.09105426073074341, "vx_m_s": 0.0011495087528601289, "vy_m_s": 3.085556272708345e-07, "vz_m_s": -0.0001005558151518926, "tilt_rad": 0.08726833208996448, "wheel_position_rad": [2.1628170013427734, 2.16109299659729, 2.1690590381622314, 2.1611056327819824], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46719840714215766, "forward_m_s": 0.0011538985417664743, "normal_height_m": 0.13227663745667234, "ground_tilt_rad": 1.9663887586552516e-06}
{"seq": 157, "t_s": 2.528, "x_m": 0.4769674837589264, "y_m": -2.2126943804323673e-05, "z_m": 0.09105266630649567, "vx_m_s": 0.001149505958892405, "vy_m_s": 3.081691772877093e-07, "vz_m_s": -0.00010056095197796822, "tilt_rad": 0.08726832487919232, "wheel_position_rad": [2.162885904312134, 2.1611599922180176, 2.1691412925720215, 2.1611883640289307], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4672167157217059, "forward_m_s": 0.0011538962061345332, "normal_height_m": 0.13227663873513873, "ground_tilt_rad": 1.959488532338189e-06}
{"seq": 158, "t_s": 2.544, "x_m": 0.4769856929779053, "y_m": -2.2120701032690704e-05, "z_m": 0.09105107188224792, "vx_m_s": 0.0011495042126625776, "vy_m_s": 3.0877532708473154e-07, "vz_m_s": -0.00010056397877633572, "tilt_rad": 0.08726831759236159, "wheel_position_rad": [2.1629550457000732, 2.161226749420166, 2.1692237854003906, 2.161271333694458], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46723499461233864, "forward_m_s": 0.0011538947303524974, "normal_height_m": 0.13227663741616158, "ground_tilt_rad": 1.95245019843123e-06}
{"seq": 159, "t_s": 2.56, "x_m": 0.47700390219688416, "y_m": -2.211443461419549e-05, "z_m": 0.09104947745800018, "vx_m_s": 0.0011495030485093594, "vy_m_s": 3.099686409768765e-07, "vz_m_s": -0.0001005657686619088, "tilt_rad": 0.08726831022960473, "wheel_position_rad": [2.1630239486694336, 2.1612937450408936, 2.1693062782287598, 2.1613540649414062], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46725327350297136, "forward_m_s": 0.00115389372662804, "normal_height_m": 0.1322766360971844, "ground_tilt_rad": 1.9455005359940865e-06}
{"seq": 160, "t_s": 2.576, "x_m": 0.47702211141586304, "y_m": -2.2108142729848623e-05, "z_m": 0.09104788303375244, "vx_m_s": 0.0011495023500174284, "vy_m_s": 3.1150972290561185e-07, "vz_m_s": -0.00010056682367576286, "tilt_rad": 0.08726830279074849, "wheel_position_rad": [2.163093090057373, 2.161360502243042, 2.169388771057129, 2.1614370346069336], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4672715523936041, "forward_m_s": 0.001153893122744598, "normal_height_m": 0.13227663477820725, "ground_tilt_rad": 1.938411412611512e-06}
{"seq": 161, "t_s": 2.592, "x_m": 0.4770403206348419, "y_m": -2.21018217416713e-05, "z_m": 0.0910462886095047, "vx_m_s": 0.001149502000771463, "vy_m_s": 3.1325575378104986e-07, "vz_m_s": -0.00010056744213216007, "tilt_rad": 0.08726829527596355, "wheel_position_rad": [2.1631619930267334, 2.1614274978637695, 2.169471263885498, 2.161519765853882], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46728983128423685, "forward_m_s": 0.0011538928287296456, "normal_height_m": 0.1322766334592301, "ground_tilt_rad": 1.931296267674081e-06}
{"seq": 162, "t_s": 2.608, "x_m": 0.4770585298538208, "y_m": -2.209546983067412e-05, "z_m": 0.09104469418525696, "vx_m_s": 0.0011495017679408193, "vy_m_s": 3.1512357168139715e-07, "vz_m_s": -0.00010056780593004078, "tilt_rad": 0.08726828768516581, "wheel_position_rad": [2.163231134414673, 2.161494493484497, 2.169553518295288, 2.161602735519409], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4673081101748695, "forward_m_s": 0.001153892628492067, "normal_height_m": 0.13227663214025298, "ground_tilt_rad": 1.92403941054004e-06}
{"seq": 163, "t_s": 2.624, "x_m": 0.4770767390727997, "y_m": -2.208908881584648e-05, "z_m": 0.09104309976100922, "vx_m_s": 0.0011495014186948538, "vy_m_s": 3.170634386151505e-07, "vz_m_s": -0.00010056800965685397, "tilt_rad": 0.0872682800182699, "wheel_position_rad": [2.163300037384033, 2.1615612506866455, 2.1696360111236572, 2.1616854667663574], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4673263890655023, "forward_m_s": 0.0011538922983310499, "normal_height_m": 0.13227663082127583, "ground_tilt_rad": 1.916813000189538e-06}
{"seq": 164, "t_s": 2.64, "x_m": 0.47709494829177856, "y_m": -2.2082673240220174e-05, "z_m": 0.09104151278734207, "vx_m_s": 0.001149501302279532, "vy_m_s": 3.190453981005703e-07, "vz_m_s": -0.0001005681260721758, "tilt_rad": 0.08726827227544523, "wheel_position_rad": [2.1633691787719727, 2.161628246307373, 2.1697185039520264, 2.1617681980133057], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46734466730677404, "forward_m_s": 0.0011538921925049873, "normal_height_m": 0.13227663692452757, "ground_tilt_rad": 1.909326667613552e-06}
{"seq": 165, "t_s": 2.656, "x_m": 0.47711318731307983, "y_m": -2.207622856076341e-05, "z_m": 0.09103991836309433, "vx_m_s": 0.0011495011858642101, "vy_m_s": 3.210524823771266e-07, "vz_m_s": -0.00010056819883175194, "tilt_rad": 0.08726826445661279, "wheel_position_rad": [2.163438081741333, 2.1616952419281006, 2.1698009967803955, 2.161851167678833], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46736297588632236, "forward_m_s": 0.0011538920828740758, "normal_height_m": 0.13227663820299396, "ground_tilt_rad": 1.9019859892858572e-06}
{"seq": 166, "t_s": 2.672, "x_m": 0.4771313965320587, "y_m": -2.206974932050798e-05, "z_m": 0.09103832393884659, "vx_m_s": 0.0011495009530335665, "vy_m_s": 3.230744880511338e-07, "vz_m_s": -0.00010056823521154001, "tilt_rad": 0.0872682565617662, "wheel_position_rad": [2.1635072231292725, 2.161761999130249, 2.1698832511901855, 2.1619338989257812], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4673812547769551, "forward_m_s": 0.0011538918541001305, "normal_height_m": 0.1322766368840168, "ground_tilt_rad": 1.8944996685165398e-06}
{"seq": 167, "t_s": 2.688, "x_m": 0.4771496057510376, "y_m": -2.2063240976422094e-05, "z_m": 0.09103672951459885, "vx_m_s": 0.0011495008366182446, "vy_m_s": 3.251055318287399e-07, "vz_m_s": -0.00010056825703941286, "tilt_rad": 0.08726824859081755, "wheel_position_rad": [2.163576126098633, 2.1618289947509766, 2.1699657440185547, 2.1620168685913086], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4673995336675878, "forward_m_s": 0.0011538917400302287, "normal_height_m": 0.13227663556503966, "ground_tilt_rad": 1.8869836471413467e-06}
{"seq": 168, "t_s": 2.704, "x_m": 0.4771678149700165, "y_m": -2.205669807153754e-05, "z_m": 0.0910351350903511, "vx_m_s": 0.0011495007202029228, "vy_m_s": 3.2714157782720577e-07, "vz_m_s": -0.00010056825703941286, "tilt_rad": 0.08726824054394515, "wheel_position_rad": [2.1636452674865723, 2.161895751953125, 2.170048236846924, 2.162099599838257], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4674178125582205, "forward_m_s": 0.0011538916240579023, "normal_height_m": 0.1322766342460625, "ground_tilt_rad": 1.8793194209443448e-06}
{"seq": 169, "t_s": 2.72, "x_m": 0.47718602418899536, "y_m": -2.2050124243833125e-05, "z_m": 0.09103354066610336, "vx_m_s": 0.0011495007202029228, "vy_m_s": 3.2918055126174295e-07, "vz_m_s": -0.00010056825703941286, "tilt_rad": 0.08726823242106234, "wheel_position_rad": [2.1637141704559326, 2.1619627475738525, 2.170130729675293, 2.162182569503784], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46743609144885323, "forward_m_s": 0.0011538916240579023, "normal_height_m": 0.13227663292708536, "ground_tilt_rad": 1.8716238103043883e-06}
{"seq": 170, "t_s": 2.736, "x_m": 0.47720423340797424, "y_m": -2.2043517674319446e-05, "z_m": 0.09103194624185562, "vx_m_s": 0.001149500603787601, "vy_m_s": 3.312165119950805e-07, "vz_m_s": -0.00010056824248749763, "tilt_rad": 0.0872682242221653, "wheel_position_rad": [2.163783311843872, 2.16202974319458, 2.170213222503662, 2.1622653007507324], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46745437033948595, "forward_m_s": 0.001153891506817293, "normal_height_m": 0.1322766316081082, "ground_tilt_rad": 1.863777293414692e-06}
{"seq": 171, "t_s": 2.7520000000000002, "x_m": 0.4772224426269531, "y_m": -2.2036878362996504e-05, "z_m": 0.09103035926818848, "vx_m_s": 0.0011495004873722792, "vy_m_s": 3.3325412118756503e-07, "vz_m_s": -0.00010056824976345524, "tilt_rad": 0.08726821594716612, "wheel_position_rad": [2.1638524532318115, 2.1620965003967285, 2.170295476913452, 2.1623482704162598], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4674726485807578, "forward_m_s": 0.0011538913914791078, "normal_height_m": 0.13227663771135995, "ground_tilt_rad": 1.856017241516879e-06}
{"seq": 172, "t_s": 2.7680000000000002, "x_m": 0.4772406816482544, "y_m": -2.20302081288537e-05, "z_m": 0.09102876484394073, "vx_m_s": 0.0011495003709569573, "vy_m_s": 3.353034401243349e-07, "vz_m_s": -0.00010056819155579433, "tilt_rad": 0.08726820759624691, "wheel_position_rad": [2.163921356201172, 2.162163496017456, 2.1703779697418213, 2.162431001663208], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46749095716030603, "forward_m_s": 0.0011538912704336496, "normal_height_m": 0.13227663898982633, "ground_tilt_rad": 1.8481645374702786e-06}
{"seq": 173, "t_s": 2.7840000000000003, "x_m": 0.4772588908672333, "y_m": -2.2023505152901635e-05, "z_m": 0.091027170419693, "vx_m_s": 0.0011495002545416355, "vy_m_s": 3.3733175541783567e-07, "vz_m_s": -0.00010056823521154001, "tilt_rad": 0.08726819916931595, "wheel_position_rad": [2.1639904975891113, 2.1622304916381836, 2.1704604625701904, 2.1625137329101562], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4675092360509388, "forward_m_s": 0.001153891158266172, "normal_height_m": 0.13227663767084918, "ground_tilt_rad": 1.8401576631114202e-06}
{"seq": 174, "t_s": 2.8000000000000003, "x_m": 0.47727710008621216, "y_m": -2.2016769435140304e-05, "z_m": 0.09102557599544525, "vx_m_s": 0.0011495001381263137, "vy_m_s": 3.3937314469767443e-07, "vz_m_s": -0.00010056823521154001, "tilt_rad": 0.08726819066637449, "wheel_position_rad": [2.1640594005584717, 2.162297248840332, 2.1705429553985596, 2.1625967025756836], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4675275149415715, "forward_m_s": 0.0011538910422938457, "normal_height_m": 0.13227663635187203, "ground_tilt_rad": 1.8321763935979424e-06}
{"seq": 175, "t_s": 2.816, "x_m": 0.47729530930519104, "y_m": -2.2010002794559114e-05, "z_m": 0.09102398157119751, "vx_m_s": 0.0011495000217109919, "vy_m_s": 3.41417887739226e-07, "vz_m_s": -0.00010056819883175194, "tilt_rad": 0.08726818208732316, "wheel_position_rad": [2.164128541946411, 2.1623642444610596, 2.1706254482269287, 2.162679433822632], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46754579383220424, "forward_m_s": 0.001153890923150812, "normal_height_m": 0.13227663503289488, "ground_tilt_rad": 1.8240993407165403e-06}
{"seq": 176, "t_s": 2.832, "x_m": 0.4773135185241699, "y_m": -2.200320341216866e-05, "z_m": 0.09102238714694977, "vx_m_s": 0.00114949990529567, "vy_m_s": 3.434429345361423e-07, "vz_m_s": -0.00010056821338366717, "tilt_rad": 0.08726817343235681, "wheel_position_rad": [2.1641974449157715, 2.162431001663208, 2.1707077026367188, 2.162762403488159], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46756407272283695, "forward_m_s": 0.0011538908084467686, "normal_height_m": 0.13227663371391774, "ground_tilt_rad": 1.8159252263632845e-06}
{"seq": 177, "t_s": 2.848, "x_m": 0.4773317277431488, "y_m": -2.199637128796894e-05, "z_m": 0.09102079272270203, "vx_m_s": 0.0011494997888803482, "vy_m_s": 3.454904344835086e-07, "vz_m_s": -0.00010056819883175194, "tilt_rad": 0.08726816470137862, "wheel_position_rad": [2.164266586303711, 2.1624979972839355, 2.170790195465088, 2.1628451347351074], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46758235161346967, "forward_m_s": 0.0011538906912061592, "normal_height_m": 0.13227663239494059, "ground_tilt_rad": 1.8076527338174362e-06}
{"seq": 178, "t_s": 2.864, "x_m": 0.4773499369621277, "y_m": -2.1989508240949363e-05, "z_m": 0.09101919829845428, "vx_m_s": 0.0011494996724650264, "vy_m_s": 3.4751707289615297e-07, "vz_m_s": -0.00010056818427983671, "tilt_rad": 0.08726815589438983, "wheel_position_rad": [2.1643354892730713, 2.162564992904663, 2.170872688293457, 2.1629281044006348], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4676006305041024, "forward_m_s": 0.0011538905739655499, "normal_height_m": 0.13227663107596344, "ground_tilt_rad": 1.7994039093593412e-06}
{"seq": 179, "t_s": 2.88, "x_m": 0.47736814618110657, "y_m": -2.198261245212052e-05, "z_m": 0.09101761132478714, "vx_m_s": 0.0011494995560497046, "vy_m_s": 3.495476619264082e-07, "vz_m_s": -0.00010056818427983671, "tilt_rad": 0.08726814701128725, "wheel_position_rad": [2.1644046306610107, 2.1626317501068115, 2.170955181121826, 2.163010835647583], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46761890874537426, "forward_m_s": 0.0011538904579932235, "normal_height_m": 0.13227663717921517, "ground_tilt_rad": 1.7909931219152852e-06}
{"seq": 180, "t_s": 2.896, "x_m": 0.47738638520240784, "y_m": -2.1975683921482414e-05, "z_m": 0.0910160169005394, "vx_m_s": 0.0011494994396343827, "vy_m_s": 3.516217361720919e-07, "vz_m_s": -0.00010056814062409103, "tilt_rad": 0.08726813805227722, "wheel_position_rad": [2.164473533630371, 2.162698745727539, 2.171037435531616, 2.1630935668945312], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46763721732492247, "forward_m_s": 0.0011538903382160483, "normal_height_m": 0.13227663845768156, "ground_tilt_rad": 1.7826049312966024e-06}
{"seq": 181, "t_s": 2.912, "x_m": 0.4774045944213867, "y_m": -2.1968724468024448e-05, "z_m": 0.09101442247629166, "vx_m_s": 0.001149499323219061, "vy_m_s": 3.5362026551410963e-07, "vz_m_s": -0.00010056816245196387, "tilt_rad": 0.08726812901725398, "wheel_position_rad": [2.1645426750183105, 2.1627657413482666, 2.1711199283599854, 2.1631765365600586], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46765549621555524, "forward_m_s": 0.0011538902241461462, "normal_height_m": 0.1322766371387044, "ground_tilt_rad": 1.7741145044255582e-06}
{"seq": 182, "t_s": 2.928, "x_m": 0.4774228036403656, "y_m": -2.1961732272757217e-05, "z_m": 0.09101282805204391, "vx_m_s": 0.001149499206803739, "vy_m_s": 3.556630474577105e-07, "vz_m_s": -0.00010056815517600626, "tilt_rad": 0.08726811990622005, "wheel_position_rad": [2.164611577987671, 2.162832498550415, 2.1712024211883545, 2.163259267807007], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4676737751061879, "forward_m_s": 0.0011538901075396782, "normal_height_m": 0.13227663581972726, "ground_tilt_rad": 1.7655203663335066e-06}
{"seq": 183, "t_s": 2.944, "x_m": 0.4774410128593445, "y_m": -2.1954709154670127e-05, "z_m": 0.09101123362779617, "vx_m_s": 0.0011494990903884172, "vy_m_s": 3.5772882256424055e-07, "vz_m_s": -0.00010056813334813341, "tilt_rad": 0.08726811071907097, "wheel_position_rad": [2.1646807193756104, 2.1628994941711426, 2.1712849140167236, 2.163342237472534], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4676920539968207, "forward_m_s": 0.0011538899896649274, "normal_height_m": 0.1322766345007501, "ground_tilt_rad": 1.7568841888592583e-06}
{"seq": 184, "t_s": 2.96, "x_m": 0.47745922207832336, "y_m": -2.1947653294773772e-05, "z_m": 0.09100963920354843, "vx_m_s": 0.0011494989739730954, "vy_m_s": 3.597333773086575e-07, "vz_m_s": -0.00010056813334813341, "tilt_rad": 0.08726810145601432, "wheel_position_rad": [2.1647496223449707, 2.162966251373291, 2.1713674068450928, 2.1634249687194824], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4677103328874534, "forward_m_s": 0.001153889873692601, "normal_height_m": 0.13227663318177296, "ground_tilt_rad": 1.748205348976175e-06}
{"seq": 185, "t_s": 2.976, "x_m": 0.47747743129730225, "y_m": -2.194056287407875e-05, "z_m": 0.09100804477930069, "vx_m_s": 0.0011494988575577736, "vy_m_s": 3.617874995143211e-07, "vz_m_s": -0.00010056811879621819, "tilt_rad": 0.08726809211694693, "wheel_position_rad": [2.16481876373291, 2.1630332469940186, 2.171449661254883, 2.1635079383850098], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4677286117780861, "forward_m_s": 0.0011538897564519917, "normal_height_m": 0.1322766318627958, "ground_tilt_rad": 1.7394832081150323e-06}
{"seq": 186, "t_s": 2.992, "x_m": 0.47749564051628113, "y_m": -2.1933443349553272e-05, "z_m": 0.09100645780563354, "vx_m_s": 0.0011494987411424518, "vy_m_s": 3.6385000612426666e-07, "vz_m_s": -0.00010056810424430296, "tilt_rad": 0.08726808270186875, "wheel_position_rad": [2.1648876667022705, 2.163100242614746, 2.171532154083252, 2.163590669631958], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46774689001935793, "forward_m_s": 0.0011538896392113823, "normal_height_m": 0.13227663796604755, "ground_tilt_rad": 1.7306529622759424e-06}
{"seq": 187, "t_s": 3.008, "x_m": 0.47751384973526, "y_m": -2.1926289264229126e-05, "z_m": 0.0910048633813858, "vx_m_s": 0.0011494987411424518, "vy_m_s": 3.6587906038221263e-07, "vz_m_s": -0.00010056810424430296, "tilt_rad": 0.08726807321067277, "wheel_position_rad": [2.16495680809021, 2.1631669998168945, 2.171614646911621, 2.1636734008789062], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4677651689099907, "forward_m_s": 0.0011538896392113823, "normal_height_m": 0.1322766366470704, "ground_tilt_rad": 1.7217774305510062e-06}
{"seq": 188, "t_s": 3.024, "x_m": 0.4775320887565613, "y_m": -2.1919102437095717e-05, "z_m": 0.09100326895713806, "vx_m_s": 0.00114949862472713, "vy_m_s": 3.6793770163967565e-07, "vz_m_s": -0.00010056809696834534, "tilt_rad": 0.08726806364357295, "wheel_position_rad": [2.1650257110595703, 2.163233995437622, 2.1716971397399902, 2.1637563705444336], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4677834774895389, "forward_m_s": 0.0011538895226049146, "normal_height_m": 0.1322766379255368, "ground_tilt_rad": 1.7127910906675778e-06}
{"seq": 189, "t_s": 3.04, "x_m": 0.47755029797554016, "y_m": -2.191188650613185e-05, "z_m": 0.09100167453289032, "vx_m_s": 0.0011494985083118081, "vy_m_s": 3.6997005281591555e-07, "vz_m_s": -0.00010056808241643012, "tilt_rad": 0.08726805400045974, "wheel_position_rad": [2.1650948524475098, 2.1633009910583496, 2.1717796325683594, 2.163839101791382], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4678017563801717, "forward_m_s": 0.0011538894053643052, "normal_height_m": 0.13227663660655964, "ground_tilt_rad": 1.7036921892116285e-06}
{"seq": 190, "t_s": 3.056, "x_m": 0.47756850719451904, "y_m": -2.1904636014369316e-05, "z_m": 0.09100008010864258, "vx_m_s": 0.0011494983918964863, "vy_m_s": 3.7200464930720045e-07, "vz_m_s": -0.0001005680751404725, "tilt_rad": 0.08726804428134075, "wheel_position_rad": [2.16516375541687, 2.163367748260498, 2.1718618869781494, 2.163922071456909], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46782003527080435, "forward_m_s": 0.0011538892887578375, "normal_height_m": 0.1322766352875825, "ground_tilt_rad": 1.6947409727465632e-06}
{"seq": 191, "t_s": 3.072, "x_m": 0.4775867164134979, "y_m": -2.189735278079752e-05, "z_m": 0.09099848568439484, "vx_m_s": 0.0011494982754811645, "vy_m_s": 3.740857437151135e-07, "vz_m_s": -0.00010056803876068443, "tilt_rad": 0.0872680344860962, "wheel_position_rad": [2.1652328968048096, 2.1634347438812256, 2.1719443798065186, 2.1640048027038574], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4678383141614371, "forward_m_s": 0.0011538891696148035, "normal_height_m": 0.13227663396860534, "ground_tilt_rad": 1.6854128962383663e-06}
{"seq": 192, "t_s": 3.088, "x_m": 0.4776049256324768, "y_m": -2.189003862440586e-05, "z_m": 0.0909968912601471, "vx_m_s": 0.0011494981590658426, "vy_m_s": 3.7608793945764774e-07, "vz_m_s": -0.00010056805331259966, "tilt_rad": 0.08726802461495409, "wheel_position_rad": [2.16530179977417, 2.163501501083374, 2.1720268726348877, 2.1640877723693848], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4678565930520698, "forward_m_s": 0.0011538890549107601, "normal_height_m": 0.1322766326496282, "ground_tilt_rad": 1.6762978480350468e-06}
{"seq": 193, "t_s": 3.104, "x_m": 0.4776231348514557, "y_m": -2.188269172620494e-05, "z_m": 0.09099529683589935, "vx_m_s": 0.0011494980426505208, "vy_m_s": 3.781343025366368e-07, "vz_m_s": -0.00010056804603664204, "tilt_rad": 0.08726801466780357, "wheel_position_rad": [2.1653709411621094, 2.1635684967041016, 2.172109365463257, 2.164170503616333], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46787487194270255, "forward_m_s": 0.0011538889383042922, "normal_height_m": 0.13227663133065104, "ground_tilt_rad": 1.6671329640575345e-06}
{"seq": 194, "t_s": 3.12, "x_m": 0.47764134407043457, "y_m": -2.1875313905184157e-05, "z_m": 0.09099370986223221, "vx_m_s": 0.001149497926235199, "vy_m_s": 3.8020246506675903e-07, "vz_m_s": -0.0001005680242087692, "tilt_rad": 0.0872680046446408, "wheel_position_rad": [2.1654398441314697, 2.163635492324829, 2.172191619873047, 2.1642534732818604], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46789315018397437, "forward_m_s": 0.0011538888204295414, "normal_height_m": 0.13227663743390278, "ground_tilt_rad": 1.6577834825928693e-06}
{"seq": 195, "t_s": 3.136, "x_m": 0.47765958309173584, "y_m": -2.186790334235411e-05, "z_m": 0.09099211543798447, "vx_m_s": 0.0011494978098198771, "vy_m_s": 3.822118799234886e-07, "vz_m_s": -0.00010056803148472682, "tilt_rad": 0.08726799454535365, "wheel_position_rad": [2.165508985519409, 2.1637022495269775, 2.172274112701416, 2.1643362045288086], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46791145876352264, "forward_m_s": 0.0011538887050913564, "normal_height_m": 0.13227663871236917, "ground_tilt_rad": 1.6483809724903473e-06}
{"seq": 196, "t_s": 3.152, "x_m": 0.4776777923107147, "y_m": -2.1860460037714802e-05, "z_m": 0.09099052101373672, "vx_m_s": 0.0011494976934045553, "vy_m_s": 3.84267707431718e-07, "vz_m_s": -0.00010056801693281159, "tilt_rad": 0.08726798437017011, "wheel_position_rad": [2.1655778884887695, 2.163769245147705, 2.172356605529785, 2.164418935775757], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46792973765415535, "forward_m_s": 0.001153888587850747, "normal_height_m": 0.13227663739339202, "ground_tilt_rad": 1.6389245210743248e-06}
{"seq": 197, "t_s": 3.168, "x_m": 0.4776960015296936, "y_m": -2.1852983991266228e-05, "z_m": 0.09098892658948898, "vx_m_s": 0.0011494975769892335, "vy_m_s": 3.863185611407971e-07, "vz_m_s": -0.00010056799510493875, "tilt_rad": 0.08726797411897678, "wheel_position_rad": [2.165647029876709, 2.1638362407684326, 2.1724390983581543, 2.164501905441284], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4679480165447881, "forward_m_s": 0.0011538884699759963, "normal_height_m": 0.13227663607441487, "ground_tilt_rad": 1.6294131891847405e-06}
{"seq": 198, "t_s": 3.184, "x_m": 0.4777142107486725, "y_m": -2.1845477021997795e-05, "z_m": 0.09098733216524124, "vx_m_s": 0.0011494974605739117, "vy_m_s": 3.8834085103189864e-07, "vz_m_s": -0.00010056799510493875, "tilt_rad": 0.08726796379177364, "wheel_position_rad": [2.1657159328460693, 2.163902997970581, 2.1725215911865234, 2.1645846366882324], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4679662954354208, "forward_m_s": 0.00115388835400367, "normal_height_m": 0.13227663475543772, "ground_tilt_rad": 1.6197774698379848e-06}
{"seq": 199, "t_s": 3.2, "x_m": 0.47773241996765137, "y_m": -2.1837935491930693e-05, "z_m": 0.0909857377409935, "vx_m_s": 0.0011494973441585898, "vy_m_s": 3.904032723767159e-07, "vz_m_s": -0.00010056798782898113, "tilt_rad": 0.08726795338844091, "wheel_position_rad": [2.165785074234009, 2.1639699935913086, 2.1726038455963135, 2.1646676063537598], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46798457432605356, "forward_m_s": 0.001153888237397202, "normal_height_m": 0.13227663343646057, "ground_tilt_rad": 1.610015129710083e-06}
{"seq": 200, "t_s": 3.216, "x_m": 0.47775062918663025, "y_m": -2.1830364858033136e-05, "z_m": 0.09098414331674576, "vx_m_s": 0.001149497227743268, "vy_m_s": 3.924376983377442e-07, "vz_m_s": -0.0001005679732770659, "tilt_rad": 0.08726794290921934, "wheel_position_rad": [2.165853977203369, 2.164036989212036, 2.1726863384246826, 2.164750337600708], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4680028532166862, "forward_m_s": 0.0011538881201565926, "normal_height_m": 0.13227663211748342, "ground_tilt_rad": 1.6004013614749216e-06}
{"seq": 201, "t_s": 3.232, "x_m": 0.47776883840560913, "y_m": -2.182275966333691e-05, "z_m": 0.09098255634307861, "vx_m_s": 0.0011494971113279462, "vy_m_s": 3.944737727579195e-07, "vz_m_s": -0.0001005679732770659, "tilt_rad": 0.0872679323539866, "wheel_position_rad": [2.1659231185913086, 2.1641037464141846, 2.1727688312530518, 2.1648333072662354], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4680211314579581, "forward_m_s": 0.0011538880041842663, "normal_height_m": 0.13227663822073515, "ground_tilt_rad": 1.5906596974592853e-06}
{"seq": 202, "t_s": 3.248, "x_m": 0.477787047624588, "y_m": -2.1815123545820825e-05, "z_m": 0.09098096191883087, "vx_m_s": 0.0011494969949126244, "vy_m_s": 3.9655822092754534e-07, "vz_m_s": -0.00010056793689727783, "tilt_rad": 0.0872679217227452, "wheel_position_rad": [2.165992021560669, 2.164170742034912, 2.172851324081421, 2.1649160385131836], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4680394103485908, "forward_m_s": 0.0011538878850412325, "normal_height_m": 0.132276636901758, "ground_tilt_rad": 1.5809282314629823e-06}
{"seq": 203, "t_s": 3.2640000000000002, "x_m": 0.4778052866458893, "y_m": -2.1807454686495475e-05, "z_m": 0.09097936749458313, "vx_m_s": 0.0011494969949126244, "vy_m_s": 3.985616672252945e-07, "vz_m_s": -0.00010056795144919306, "tilt_rad": 0.08726791101537157, "wheel_position_rad": [2.1660611629486084, 2.1642374992370605, 2.17293381690979, 2.164998769760132], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4680577189281391, "forward_m_s": 0.0011538878863095155, "normal_height_m": 0.1322766381802244, "ground_tilt_rad": 1.5709244854980476e-06}
{"seq": 204, "t_s": 3.2800000000000002, "x_m": 0.47782349586486816, "y_m": -2.1799753085360862e-05, "z_m": 0.09097777307033539, "vx_m_s": 0.0011494968784973025, "vy_m_s": 4.006096219200117e-07, "vz_m_s": -0.00010056794417323545, "tilt_rad": 0.08726790023210769, "wheel_position_rad": [2.1661300659179688, 2.164304494857788, 2.17301607131958, 2.165081739425659], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4680759978187718, "forward_m_s": 0.0011538877697030478, "normal_height_m": 0.13227663686124724, "ground_tilt_rad": 1.5609277529222368e-06}
{"seq": 205, "t_s": 3.2960000000000003, "x_m": 0.47784170508384705, "y_m": -2.179202056140639e-05, "z_m": 0.09097617864608765, "vx_m_s": 0.0011494967620819807, "vy_m_s": 4.02679177113896e-07, "vz_m_s": -0.0001005679223453626, "tilt_rad": 0.0872678893728389, "wheel_position_rad": [2.166199207305908, 2.1643714904785156, 2.173098564147949, 2.1651644706726074], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4680942767094045, "forward_m_s": 0.0011538876518282966, "normal_height_m": 0.1322766355422701, "ground_tilt_rad": 1.5510813306732812e-06}
{"seq": 206, "t_s": 3.3120000000000003, "x_m": 0.4778599143028259, "y_m": -2.1784253476653248e-05, "z_m": 0.0909745842218399, "vx_m_s": 0.0011494966456666589, "vy_m_s": 4.0469024042977253e-07, "vz_m_s": -0.0001005679223453626, "tilt_rad": 0.08726787843755882, "wheel_position_rad": [2.1662681102752686, 2.164438247680664, 2.1731810569763184, 2.1652474403381348], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46811255560003723, "forward_m_s": 0.0011538875358559702, "normal_height_m": 0.13227663422329294, "ground_tilt_rad": 1.540955873822724e-06}
{"seq": 207, "t_s": 3.3280000000000003, "x_m": 0.4778781235218048, "y_m": -2.1776455469080247e-05, "z_m": 0.09097298979759216, "vx_m_s": 0.001149496529251337, "vy_m_s": 4.067468921675754e-07, "vz_m_s": -0.00010056790779344738, "tilt_rad": 0.08726786742614509, "wheel_position_rad": [2.166337251663208, 2.1645052433013916, 2.1732635498046875, 2.165330171585083], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46813083449067, "forward_m_s": 0.0011538874186153608, "normal_height_m": 0.1322766329043158, "ground_tilt_rad": 1.5308359678225613e-06}
{"seq": 208, "t_s": 3.344, "x_m": 0.4778963327407837, "y_m": -2.1768626538687386e-05, "z_m": 0.09097139537334442, "vx_m_s": 0.0011494964128360152, "vy_m_s": 4.0879859852793743e-07, "vz_m_s": -0.00010056790051748976, "tilt_rad": 0.08726785633884612, "wheel_position_rad": [2.1664061546325684, 2.164572238922119, 2.1733458042144775, 2.1654131412506104], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46814911338130266, "forward_m_s": 0.001153887302008893, "normal_height_m": 0.13227663158533864, "ground_tilt_rad": 1.5207217234900825e-06}
{"seq": 209, "t_s": 3.36, "x_m": 0.4779145419597626, "y_m": -2.1760763047495857e-05, "z_m": 0.09096980839967728, "vx_m_s": 0.0011494962964206934, "vy_m_s": 4.1082245161305764e-07, "vz_m_s": -0.00010056789324153215, "tilt_rad": 0.0872678451755383, "wheel_position_rad": [2.166475296020508, 2.1646389961242676, 2.1734282970428467, 2.1654958724975586], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46816739162257454, "forward_m_s": 0.0011538871854024253, "normal_height_m": 0.13227663768859038, "ground_tilt_rad": 1.5103927538889364e-06}
{"seq": 210, "t_s": 3.376, "x_m": 0.47793275117874146, "y_m": -2.1752868633484468e-05, "z_m": 0.09096821397542953, "vx_m_s": 0.0011494961800053716, "vy_m_s": 4.128847876927466e-07, "vz_m_s": -0.00010056787868961692, "tilt_rad": 0.08726783393622288, "wheel_position_rad": [2.166544198989868, 2.164705991744995, 2.173510789871216, 2.165578603744507], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46818567051320725, "forward_m_s": 0.001153887068161816, "normal_height_m": 0.13227663636961323, "ground_tilt_rad": 1.5002146898096084e-06}
{"seq": 211, "t_s": 3.392, "x_m": 0.4779509902000427, "y_m": -2.174494329665322e-05, "z_m": 0.0909666195511818, "vx_m_s": 0.0011494960635900497, "vy_m_s": 4.1492063473924645e-07, "vz_m_s": -0.0001005678714136593, "tilt_rad": 0.08726782262076861, "wheel_position_rad": [2.1666133403778076, 2.1647727489471436, 2.173593282699585, 2.165661573410034], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4682039790927555, "forward_m_s": 0.001153886951555348, "normal_height_m": 0.13227663764807962, "ground_tilt_rad": 1.4897435437772834e-06}
{"seq": 212, "t_s": 3.408, "x_m": 0.4779691994190216, "y_m": -2.1736983399023302e-05, "z_m": 0.09096502512693405, "vx_m_s": 0.001149495947174728, "vy_m_s": 4.1695756181070465e-07, "vz_m_s": -0.00010056786413770169, "tilt_rad": 0.08726781122943407, "wheel_position_rad": [2.166682243347168, 2.164839744567871, 2.173675775527954, 2.1657443046569824], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46822225798338823, "forward_m_s": 0.0011538868349488802, "normal_height_m": 0.13227663632910247, "ground_tilt_rad": 1.479423425103994e-06}
{"seq": 213, "t_s": 3.424, "x_m": 0.4779874086380005, "y_m": -2.1728992578573525e-05, "z_m": 0.09096343070268631, "vx_m_s": 0.001149495830759406, "vy_m_s": 4.190400773040892e-07, "vz_m_s": -0.00010056783503387123, "tilt_rad": 0.08726779976209184, "wheel_position_rad": [2.1667513847351074, 2.1649067401885986, 2.173758029937744, 2.1658272743225098], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46824053687402095, "forward_m_s": 0.0011538867164399879, "normal_height_m": 0.13227663501012535, "ground_tilt_rad": 1.469030808140785e-06}
{"seq": 214, "t_s": 3.44, "x_m": 0.47800561785697937, "y_m": -2.1720969016314484e-05, "z_m": 0.09096183627843857, "vx_m_s": 0.0011494957143440843, "vy_m_s": 4.210462520859437e-07, "vz_m_s": -0.00010056784230982885, "tilt_rad": 0.08726778821874062, "wheel_position_rad": [2.1668202877044678, 2.164973497390747, 2.1738405227661133, 2.165910005569458], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46825881576465367, "forward_m_s": 0.001153886601101803, "normal_height_m": 0.1322766336911482, "ground_tilt_rad": 1.4584880236677217e-06}
{"seq": 215, "t_s": 3.456, "x_m": 0.47802382707595825, "y_m": -2.171291271224618e-05, "z_m": 0.09096024185419083, "vx_m_s": 0.0011494955979287624, "vy_m_s": 4.2309426362407976e-07, "vz_m_s": -0.00010056783503387123, "tilt_rad": 0.08726777659924662, "wheel_position_rad": [2.1668894290924072, 2.1650404930114746, 2.1739230155944824, 2.1659929752349854], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4682770946552864, "forward_m_s": 0.001153886484495335, "normal_height_m": 0.13227663237217105, "ground_tilt_rad": 1.4477151052219275e-06}
{"seq": 216, "t_s": 3.472, "x_m": 0.47804203629493713, "y_m": -2.1704825485358015e-05, "z_m": 0.09095865488052368, "vx_m_s": 0.0011494954815134406, "vy_m_s": 4.251625682627491e-07, "vz_m_s": -0.00010056781320599839, "tilt_rad": 0.08726776490387986, "wheel_position_rad": [2.1669583320617676, 2.165107488632202, 2.1740055084228516, 2.1660757064819336], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4682953728965582, "forward_m_s": 0.0011538863666205842, "normal_height_m": 0.1322766384754228, "ground_tilt_rad": 1.4372477029440409e-06}
{"seq": 217, "t_s": 3.488, "x_m": 0.478060245513916, "y_m": -2.1696703697671182e-05, "z_m": 0.09095706045627594, "vx_m_s": 0.0011494953650981188, "vy_m_s": 4.271761895324744e-07, "vz_m_s": -0.000100567820481956, "tilt_rad": 0.08726775313250275, "wheel_position_rad": [2.167027473449707, 2.1651742458343506, 2.1740877628326416, 2.166158676147461], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4683136517871909, "forward_m_s": 0.0011538862512823992, "normal_height_m": 0.1322766371564456, "ground_tilt_rad": 1.4266256862762503e-06}
{"seq": 218, "t_s": 3.504, "x_m": 0.4780784547328949, "y_m": -2.168855098716449e-05, "z_m": 0.0909554660320282, "vx_m_s": 0.0011494953650981188, "vy_m_s": 4.292319317755755e-07, "vz_m_s": -0.00010056780593004078, "tilt_rad": 0.08726774128511779, "wheel_position_rad": [2.1670963764190674, 2.165241241455078, 2.1741702556610107, 2.166241407394409], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46833193067782364, "forward_m_s": 0.0011538862500141162, "normal_height_m": 0.13227663583746846, "ground_tilt_rad": 1.415923987320097e-06}
{"seq": 219, "t_s": 3.52, "x_m": 0.47809669375419617, "y_m": -2.1680367353837937e-05, "z_m": 0.09095387160778046, "vx_m_s": 0.001149495248682797, "vy_m_s": 4.312834676056809e-07, "vz_m_s": -0.00010056779137812555, "tilt_rad": 0.08726772936158993, "wheel_position_rad": [2.167165517807007, 2.1653079986572266, 2.17425274848938, 2.1663241386413574], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46835023925737196, "forward_m_s": 0.0011538861327735068, "normal_height_m": 0.13227663711593488, "ground_tilt_rad": 1.4051407854708734e-06}
{"seq": 220, "t_s": 3.536, "x_m": 0.47811490297317505, "y_m": -2.167215097870212e-05, "z_m": 0.09095227718353271, "vx_m_s": 0.0011494951322674751, "vy_m_s": 4.3330862808943493e-07, "vz_m_s": -0.00010056779137812555, "tilt_rad": 0.08726771736218665, "wheel_position_rad": [2.167234420776367, 2.165374994277954, 2.174335241317749, 2.1664071083068848], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4683685181480047, "forward_m_s": 0.0011538860168011805, "normal_height_m": 0.13227663579695773, "ground_tilt_rad": 1.394194560136439e-06}
{"seq": 221, "t_s": 3.552, "x_m": 0.47813311219215393, "y_m": -2.1663900042767636e-05, "z_m": 0.09095068275928497, "vx_m_s": 0.0011494950158521533, "vy_m_s": 4.353699409875844e-07, "vz_m_s": -0.00010056777682621032, "tilt_rad": 0.08726770528677925, "wheel_position_rad": [2.1673035621643066, 2.1654419898986816, 2.174417734146118, 2.166489839553833], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4683867970386374, "forward_m_s": 0.001153885899560571, "normal_height_m": 0.13227663447798058, "ground_tilt_rad": 1.3834827409310443e-06}
{"seq": 222, "t_s": 3.568, "x_m": 0.4781513214111328, "y_m": -2.1655620003002696e-05, "z_m": 0.09094908833503723, "vx_m_s": 0.0011494948994368315, "vy_m_s": 4.374065838419483e-07, "vz_m_s": -0.00010056776227429509, "tilt_rad": 0.0872676931353626, "wheel_position_rad": [2.167372465133667, 2.16550874710083, 2.174499988555908, 2.1665728092193604], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4684050759292701, "forward_m_s": 0.001153885782319962, "normal_height_m": 0.13227663315900343, "ground_tilt_rad": 1.3725255655849407e-06}
{"seq": 223, "t_s": 3.584, "x_m": 0.4781695306301117, "y_m": -2.1647305402439088e-05, "z_m": 0.09094749391078949, "vx_m_s": 0.0011494947830215096, "vy_m_s": 4.3944419303443283e-07, "vz_m_s": -0.00010056775499833748, "tilt_rad": 0.08726768090779913, "wheel_position_rad": [2.1674416065216064, 2.1655757427215576, 2.1745824813842773, 2.1666555404663086], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46842335481990277, "forward_m_s": 0.001153885665713494, "normal_height_m": 0.13227663184002628, "ground_tilt_rad": 1.3616432907058653e-06}
{"seq": 224, "t_s": 3.6, "x_m": 0.4781877398490906, "y_m": -2.163895987905562e-05, "z_m": 0.09094590693712234, "vx_m_s": 0.0011494946666061878, "vy_m_s": 4.4152358213978005e-07, "vz_m_s": -0.00010056772589450702, "tilt_rad": 0.08726766860436645, "wheel_position_rad": [2.167510509490967, 2.165642738342285, 2.1746649742126465, 2.166738510131836], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46844163306117464, "forward_m_s": 0.0011538855472046016, "normal_height_m": 0.132276637943278, "ground_tilt_rad": 1.350591140745196e-06}
{"seq": 225, "t_s": 3.616, "x_m": 0.47820594906806946, "y_m": -2.1630581613862887e-05, "z_m": 0.0909443125128746, "vx_m_s": 0.001149494550190866, "vy_m_s": 4.4353282646625303e-07, "vz_m_s": -0.00010056774044642225, "tilt_rad": 0.08726765622492573, "wheel_position_rad": [2.1675796508789062, 2.1657094955444336, 2.1747474670410156, 2.166821241378784], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46845991195180736, "forward_m_s": 0.0011538854325005583, "normal_height_m": 0.13227663662430084, "ground_tilt_rad": 1.339530683634924e-06}
{"seq": 226, "t_s": 3.632, "x_m": 0.47822415828704834, "y_m": -2.162217060686089e-05, "z_m": 0.09094271808862686, "vx_m_s": 0.0011494944337755442, "vy_m_s": 4.4558061063071364e-07, "vz_m_s": -0.00010056773317046463, "tilt_rad": 0.08726764376947817, "wheel_position_rad": [2.1676485538482666, 2.165776491165161, 2.1748299598693848, 2.1669039726257324], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4684781908424401, "forward_m_s": 0.0011538853158940905, "normal_height_m": 0.1322766353053237, "ground_tilt_rad": 1.3284617118849938e-06}
{"seq": 227, "t_s": 3.648, "x_m": 0.4782423973083496, "y_m": -2.1613728677039035e-05, "z_m": 0.09094112366437912, "vx_m_s": 0.0011494943173602223, "vy_m_s": 4.4764692574972287e-07, "vz_m_s": -0.00010056771134259179, "tilt_rad": 0.08726763123787983, "wheel_position_rad": [2.167717695236206, 2.1658434867858887, 2.174912214279175, 2.1669869422912598], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4684964994219884, "forward_m_s": 0.0011538851980193393, "normal_height_m": 0.1322766365837901, "ground_tilt_rad": 1.3172154504425027e-06}
{"seq": 228, "t_s": 3.664, "x_m": 0.4782606065273285, "y_m": -2.1605254005407915e-05, "z_m": 0.09093952924013138, "vx_m_s": 0.0011494942009449005, "vy_m_s": 4.49663048129878e-07, "vz_m_s": -0.00010056770406663418, "tilt_rad": 0.08726761863041725, "wheel_position_rad": [2.1677865982055664, 2.165910243988037, 2.174994707107544, 2.167069673538208], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46851477831262106, "forward_m_s": 0.0011538850814128716, "normal_height_m": 0.13227663526481295, "ground_tilt_rad": 1.3060423634148828e-06}
{"seq": 229, "t_s": 3.68, "x_m": 0.4782788157463074, "y_m": -2.159674659196753e-05, "z_m": 0.09093793481588364, "vx_m_s": 0.0011494940845295787, "vy_m_s": 4.5171805140853394e-07, "vz_m_s": -0.00010056770406663418, "tilt_rad": 0.08726760594694777, "wheel_position_rad": [2.167855739593506, 2.1659772396087646, 2.175077199935913, 2.1671526432037354], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4685330572032538, "forward_m_s": 0.0011538849654405452, "normal_height_m": 0.1322766339458358, "ground_tilt_rad": 1.2948586068714784e-06}
{"seq": 230, "t_s": 3.696, "x_m": 0.47829702496528625, "y_m": -2.1588206436717883e-05, "z_m": 0.0909363403916359, "vx_m_s": 0.0011494939681142569, "vy_m_s": 4.537686777439376e-07, "vz_m_s": -0.00010056768223876134, "tilt_rad": 0.08726759318747133, "wheel_position_rad": [2.167924642562866, 2.166043996810913, 2.1751596927642822, 2.1672353744506836], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46855133609388655, "forward_m_s": 0.0011538848475657944, "normal_height_m": 0.13227663262685865, "ground_tilt_rad": 1.2834909130722481e-06}
{"seq": 231, "t_s": 3.712, "x_m": 0.47831523418426514, "y_m": -2.1579635358648375e-05, "z_m": 0.09093475341796875, "vx_m_s": 0.001149493851698935, "vy_m_s": 4.5579577090393286e-07, "vz_m_s": -0.00010056768223876134, "tilt_rad": 0.08726758035184397, "wheel_position_rad": [2.1679937839508057, 2.1661109924316406, 2.1752419471740723, 2.167318344116211], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4685696143351583, "forward_m_s": 0.001153884731593468, "normal_height_m": 0.1322766387301104, "ground_tilt_rad": 1.2722834471546412e-06}
{"seq": 232, "t_s": 3.728, "x_m": 0.478333443403244, "y_m": -2.15710297197802e-05, "z_m": 0.09093315899372101, "vx_m_s": 0.0011494937352836132, "vy_m_s": 4.578556627166108e-07, "vz_m_s": -0.00010056767496280372, "tilt_rad": 0.08726756744035354, "wheel_position_rad": [2.168062686920166, 2.166177988052368, 2.1753244400024414, 2.167401075363159], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4685878932257911, "forward_m_s": 0.0011538846149870001, "normal_height_m": 0.13227663741113324, "ground_tilt_rad": 1.2610644156716519e-06}
{"seq": 233, "t_s": 3.744, "x_m": 0.4783516526222229, "y_m": -2.1562394977081567e-05, "z_m": 0.09093156456947327, "vx_m_s": 0.0011494936188682914, "vy_m_s": 4.5989270347490674e-07, "vz_m_s": -0.00010056766041088849, "tilt_rad": 0.08726755445285604, "wheel_position_rad": [2.1681318283081055, 2.1662447452545166, 2.1754069328308105, 2.1674838066101074], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4686061721164238, "forward_m_s": 0.0011538844977463907, "normal_height_m": 0.1322766360921561, "ground_tilt_rad": 1.2495669897340532e-06}
{"seq": 234, "t_s": 3.7600000000000002, "x_m": 0.4783698618412018, "y_m": -2.1553725673584267e-05, "z_m": 0.09092997014522552, "vx_m_s": 0.0011494935024529696, "vy_m_s": 4.6193105163183645e-07, "vz_m_s": -0.00010056765313493088, "tilt_rad": 0.08726754138935273, "wheel_position_rad": [2.168200731277466, 2.166311740875244, 2.1754894256591797, 2.1675667762756348], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4686244510070565, "forward_m_s": 0.001153884381139923, "normal_height_m": 0.13227663477317894, "ground_tilt_rad": 1.2382318026151393e-06}
{"seq": 235, "t_s": 3.7760000000000002, "x_m": 0.47838810086250305, "y_m": -2.1545025447267108e-05, "z_m": 0.09092837572097778, "vx_m_s": 0.0011494933860376477, "vy_m_s": 4.640073711925652e-07, "vz_m_s": -0.00010056762403110042, "tilt_rad": 0.08726752824969326, "wheel_position_rad": [2.1682698726654053, 2.1663787364959717, 2.175571918487549, 2.167649507522583], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4686427595866048, "forward_m_s": 0.0011538842626310306, "normal_height_m": 0.13227663605164533, "ground_tilt_rad": 1.2267918862553873e-06}
{"seq": 236, "t_s": 3.7920000000000003, "x_m": 0.47840631008148193, "y_m": -2.1536292479140684e-05, "z_m": 0.09092678129673004, "vx_m_s": 0.0011494933860376477, "vy_m_s": 4.660199124373321e-07, "vz_m_s": -0.00010056763858301565, "tilt_rad": 0.0872675150341744, "wheel_position_rad": [2.1683387756347656, 2.16644549369812, 2.175654172897339, 2.1677324771881104], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4686610384772375, "forward_m_s": 0.0011538842638993136, "normal_height_m": 0.13227663473266818, "ground_tilt_rad": 1.2151529215500573e-06}
{"seq": 237, "t_s": 3.8080000000000003, "x_m": 0.4784245193004608, "y_m": -2.1527526769204997e-05, "z_m": 0.0909251868724823, "vx_m_s": 0.001149493269622326, "vy_m_s": 4.6806707132418524e-07, "vz_m_s": -0.00010056762403110042, "tilt_rad": 0.08726750174265091, "wheel_position_rad": [2.168407917022705, 2.1665124893188477, 2.175736665725708, 2.1678152084350586], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4686793173678702, "forward_m_s": 0.0011538841466587043, "normal_height_m": 0.13227663341369103, "ground_tilt_rad": 1.2036781326982742e-06}
{"seq": 238, "t_s": 3.8240000000000003, "x_m": 0.4784427285194397, "y_m": -2.151873013644945e-05, "z_m": 0.09092359244823456, "vx_m_s": 0.001149493153207004, "vy_m_s": 4.701315674537909e-07, "vz_m_s": -0.00010056760220322758, "tilt_rad": 0.08726748837512147, "wheel_position_rad": [2.1684770584106445, 2.166579246520996, 2.175819158554077, 2.167898178100586], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46869759625850294, "forward_m_s": 0.0011538840287839533, "normal_height_m": 0.13227663209471388, "ground_tilt_rad": 1.19218602412765e-06}
{"seq": 239, "t_s": 3.84, "x_m": 0.4784609377384186, "y_m": -2.1509900761884637e-05, "z_m": 0.09092200547456741, "vx_m_s": 0.0011494930367916822, "vy_m_s": 4.721505320048891e-07, "vz_m_s": -0.00010056760220322758, "tilt_rad": 0.08726747493143572, "wheel_position_rad": [2.168545961380005, 2.1666462421417236, 2.1759016513824463, 2.167980909347534], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46871587449977475, "forward_m_s": 0.001153883912811627, "normal_height_m": 0.13227663819796562, "ground_tilt_rad": 1.180770119169872e-06}
{"seq": 240, "t_s": 3.856, "x_m": 0.47847914695739746, "y_m": -2.1501038645510562e-05, "z_m": 0.09092041105031967, "vx_m_s": 0.0011494929203763604, "vy_m_s": 4.7420417104149237e-07, "vz_m_s": -0.00010056759492726997, "tilt_rad": 0.087267461411893, "wheel_position_rad": [2.1686151027679443, 2.166713237762451, 2.1759841442108154, 2.1680636405944824], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4687341533904075, "forward_m_s": 0.001153883796205159, "normal_height_m": 0.13227663687898847, "ground_tilt_rad": 1.1692427603041097e-06}
{"seq": 241, "t_s": 3.872, "x_m": 0.47849735617637634, "y_m": -2.1492143787327223e-05, "z_m": 0.09091881662607193, "vx_m_s": 0.0011494928039610386, "vy_m_s": 4.762541152558697e-07, "vz_m_s": -0.00010056758037535474, "tilt_rad": 0.08726744781634549, "wheel_position_rad": [2.1686840057373047, 2.1667799949645996, 2.1760663986206055, 2.1681466102600098], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4687524322810402, "forward_m_s": 0.0011538836789645496, "normal_height_m": 0.13227663556001132, "ground_tilt_rad": 1.1576006179692172e-06}
{"seq": 242, "t_s": 3.888, "x_m": 0.4785155951976776, "y_m": -2.1483218006324023e-05, "z_m": 0.09091722220182419, "vx_m_s": 0.0011494926875457168, "vy_m_s": 4.782833684657817e-07, "vz_m_s": -0.00010056758037535474, "tilt_rad": 0.08726743414479189, "wheel_position_rad": [2.168753147125244, 2.166846990585327, 2.1761488914489746, 2.168229341506958], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4687707408605885, "forward_m_s": 0.0011538835629922232, "normal_height_m": 0.1322766368384777, "ground_tilt_rad": 1.1460339602872613e-06}
{"seq": 243, "t_s": 3.904, "x_m": 0.4785338044166565, "y_m": -2.147425948351156e-05, "z_m": 0.09091562777757645, "vx_m_s": 0.001149492571130395, "vy_m_s": 4.803415549758938e-07, "vz_m_s": -0.00010056757309939712, "tilt_rad": 0.08726742039707676, "wheel_position_rad": [2.1688220500946045, 2.1669139862060547, 2.1762313842773438, 2.1683123111724854], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4687890197512212, "forward_m_s": 0.0011538834463857555, "normal_height_m": 0.13227663551950056, "ground_tilt_rad": 1.1342514892808249e-06}
{"seq": 244, "t_s": 3.92, "x_m": 0.4785520136356354, "y_m": -2.1465268218889832e-05, "z_m": 0.0909140333533287, "vx_m_s": 0.0011494924547150731, "vy_m_s": 4.823791641683783e-07, "vz_m_s": -0.00010056755127152428, "tilt_rad": 0.0872674065735096, "wheel_position_rad": [2.168891191482544, 2.166980743408203, 2.176313877105713, 2.1683950424194336], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46880729864185394, "forward_m_s": 0.0011538833285110047, "normal_height_m": 0.1322766342005234, "ground_tilt_rad": 1.1225431541591997e-06}
{"seq": 245, "t_s": 3.936, "x_m": 0.47857022285461426, "y_m": -2.1456246031448245e-05, "z_m": 0.09091243892908096, "vx_m_s": 0.0011494923382997513, "vy_m_s": 4.844179102292401e-07, "vz_m_s": -0.00010056755127152428, "tilt_rad": 0.08726739267394135, "wheel_position_rad": [2.1689600944519043, 2.1670477390289307, 2.176396131515503, 2.168478012084961], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46882557753248666, "forward_m_s": 0.0011538832125386784, "normal_height_m": 0.13227663288154626, "ground_tilt_rad": 1.1110112325167446e-06}
{"seq": 246, "t_s": 3.952, "x_m": 0.47858843207359314, "y_m": -2.144718928320799e-05, "z_m": 0.09091085195541382, "vx_m_s": 0.0011494922218844295, "vy_m_s": 4.864893412559468e-07, "vz_m_s": -0.00010056752216769382, "tilt_rad": 0.08726737869820635, "wheel_position_rad": [2.1690292358398438, 2.167114734649658, 2.176478624343872, 2.168560743331909], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46884385577375853, "forward_m_s": 0.001153883094029786, "normal_height_m": 0.132276638984798, "ground_tilt_rad": 1.0993583513154694e-06}
{"seq": 247, "t_s": 3.968, "x_m": 0.478606641292572, "y_m": -2.143810343113728e-05, "z_m": 0.09090925753116608, "vx_m_s": 0.0011494921054691076, "vy_m_s": 4.884865347776213e-07, "vz_m_s": -0.00010056752944365144, "tilt_rad": 0.08726736464662303, "wheel_position_rad": [2.169098138809204, 2.1671814918518066, 2.176561117172241, 2.1686437129974365], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4688621346643912, "forward_m_s": 0.001153882978691601, "normal_height_m": 0.13227663766582085, "ground_tilt_rad": 1.0874785358023546e-06}
{"seq": 248, "t_s": 3.984, "x_m": 0.4786248505115509, "y_m": -2.14289830182679e-05, "z_m": 0.09090766310691833, "vx_m_s": 0.0011494919890537858, "vy_m_s": 4.905345463157573e-07, "vz_m_s": -0.00010056751489173621, "tilt_rad": 0.08726735051903596, "wheel_position_rad": [2.1691672801971436, 2.167248487472534, 2.1766436100006104, 2.1687264442443848], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46888041355502397, "forward_m_s": 0.0011538828614509917, "normal_height_m": 0.13227663634684372, "ground_tilt_rad": 1.075673945145298e-06}
{"seq": 249, "t_s": 4.0, "x_m": 0.4786430597305298, "y_m": -2.141983168257866e-05, "z_m": 0.0909060686826706, "vx_m_s": 0.001149491872638464, "vy_m_s": 4.926026235807512e-07, "vz_m_s": -0.0001005675076157786, "tilt_rad": 0.08726733631544635, "wheel_position_rad": [2.169236183166504, 2.1673152446746826, 2.1767261028289795, 2.168809175491333], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46889869244565663, "forward_m_s": 0.0011538827448445237, "normal_height_m": 0.13227663502786657, "ground_tilt_rad": 1.06426008556306e-06}
{"seq": 250, "t_s": 4.016, "x_m": 0.47866129875183105, "y_m": -2.1410647605080158e-05, "z_m": 0.09090447425842285, "vx_m_s": 0.0011494917562231421, "vy_m_s": 4.946247145198868e-07, "vz_m_s": -0.0001005675076157786, "tilt_rad": 0.0872673220356886, "wheel_position_rad": [2.1693053245544434, 2.16738224029541, 2.1768083572387695, 2.1688921451568604], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46891700102520495, "forward_m_s": 0.0011538826288721973, "normal_height_m": 0.13227663630633293, "ground_tilt_rad": 1.0526170141965256e-06}
{"seq": 251, "t_s": 4.032, "x_m": 0.47867950797080994, "y_m": -2.140143078577239e-05, "z_m": 0.09090287983417511, "vx_m_s": 0.0011494917562231421, "vy_m_s": 4.966805136064067e-07, "vz_m_s": -0.00010056749306386337, "tilt_rad": 0.08726730768008621, "wheel_position_rad": [2.1693742275238037, 2.1674492359161377, 2.1768908500671387, 2.1689748764038086], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46893527991583767, "forward_m_s": 0.0011538826276039143, "normal_height_m": 0.13227663498735578, "ground_tilt_rad": 1.0407370382687457e-06}
{"seq": 252, "t_s": 4.048, "x_m": 0.4786977171897888, "y_m": -2.1392183043644764e-05, "z_m": 0.09090128540992737, "vx_m_s": 0.0011494916398078203, "vy_m_s": 4.987180091120536e-07, "vz_m_s": -0.00010056747851194814, "tilt_rad": 0.0872672932484799, "wheel_position_rad": [2.169443368911743, 2.167515993118286, 2.176973342895508, 2.169057846069336], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4689535588064704, "forward_m_s": 0.001153882510363305, "normal_height_m": 0.13227663366837863, "ground_tilt_rad": 1.0291514783997993e-06}
{"seq": 253, "t_s": 4.064, "x_m": 0.4787159264087677, "y_m": -2.1382902559707873e-05, "z_m": 0.09089969098567963, "vx_m_s": 0.0011494915233924985, "vy_m_s": 5.00743794873415e-07, "vz_m_s": -0.00010056747123599052, "tilt_rad": 0.08726727874086966, "wheel_position_rad": [2.1695122718811035, 2.1675829887390137, 2.177055835723877, 2.169140577316284], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4689718376971031, "forward_m_s": 0.0011538823937568372, "normal_height_m": 0.13227663234940149, "ground_tilt_rad": 1.0174340018696964e-06}
{"seq": 254, "t_s": 4.08, "x_m": 0.4787341356277466, "y_m": -2.1373587514972314e-05, "z_m": 0.09089810401201248, "vx_m_s": 0.0011494914069771767, "vy_m_s": 5.028065857004549e-07, "vz_m_s": -0.00010056746396003291, "tilt_rad": 0.08726726415725415, "wheel_position_rad": [2.169581413269043, 2.167649984359741, 2.177138090133667, 2.1692235469818115], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4689901159383749, "forward_m_s": 0.0011538822771503692, "normal_height_m": 0.13227663845265325, "ground_tilt_rad": 1.0058007854632685e-06}
{"seq": 255, "t_s": 4.096, "x_m": 0.47875234484672546, "y_m": -2.13642433664063e-05, "z_m": 0.09089650958776474, "vx_m_s": 0.0011494912905618548, "vy_m_s": 5.048495950177312e-07, "vz_m_s": -0.00010056744940811768, "tilt_rad": 0.08726724949763462, "wheel_position_rad": [2.1696503162384033, 2.1677167415618896, 2.177220582962036, 2.1693062782287598], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46900839482900764, "forward_m_s": 0.0011538821599097599, "normal_height_m": 0.1322766371336761, "ground_tilt_rad": 9.94143116719819e-07}
{"seq": 256, "t_s": 4.112, "x_m": 0.47877055406570435, "y_m": -2.1354864657041617e-05, "z_m": 0.090894915163517, "vx_m_s": 0.001149491174146533, "vy_m_s": 5.068922632744943e-07, "vz_m_s": -0.00010056744213216007, "tilt_rad": 0.08726723476167729, "wheel_position_rad": [2.1697194576263428, 2.167783737182617, 2.1773030757904053, 2.169389009475708], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4690266737196404, "forward_m_s": 0.0011538820433032921, "normal_height_m": 0.13227663581469895, "ground_tilt_rad": 9.824601252006051e-07}