{"seq": 0, "t_s": 0.016, "x_m": 0.011330246925354004, "y_m": 3.031197094300426e-21, "z_m": 0.1280926764011383, "vx_m_s": -1.1768440229471824e-18, "vy_m_s": -2.5956803544822125e-19, "vz_m_s": -0.15696001052856445, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-2.6833329115984993e-21, 3.1809906982838997e-21, -2.6833329115984993e-21, 3.1809906982838997e-21], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00012311956283132634, "forward_m_s": 0.01367996629929728, "normal_height_m": 0.12859274118148922, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 1, "t_s": 0.032, "x_m": 0.011330246925354004, "y_m": 1.2432336390770907e-20, "z_m": 0.12416867911815643, "vx_m_s": -2.1369338449761227e-18, "vy_m_s": -3.0975142885058834e-19, "vz_m_s": -0.3139200210571289, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-5.746798127724163e-21, 6.81261348075342e-21, -5.746798127724163e-21, 6.81261348075342e-21], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00046511846056940427, "forward_m_s": 0.02735993259859456, "normal_height_m": 0.12468367589285628, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 2, "t_s": 0.048, "x_m": 0.011330246925354004, "y_m": 2.822911521641475e-20, "z_m": 0.11773332208395004, "vx_m_s": -3.3139225211329253e-18, "vy_m_s": -4.528218283686788e-19, "vz_m_s": -0.47088003158569336, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-8.811748270374266e-21, 1.0445997051250492e-20, -8.811748270374266e-21, 1.0445997051250492e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.001025996782732028, "forward_m_s": 0.04103989889789184, "normal_height_m": 0.11827280733505245, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 3, "t_s": 0.064, "x_m": 0.011330246925354004, "y_m": 5.033910692150592e-20, "z_m": 0.10878659784793854, "vx_m_s": -4.057131893802632e-18, "vy_m_s": -4.517725497616553e-19, "vz_m_s": -0.6278400421142578, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-1.187670447147612e-20, 1.4079386276302532e-20, -1.187670447147612e-20, 1.4079386276302532e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0018057551786800855, "forward_m_s": 0.05471986519718912, "normal_height_m": 0.10936012808584887, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 4, "t_s": 0.08, "x_m": 0.011330246925354004, "y_m": 7.934578806959186e-20, "z_m": 0.09732852131128311, "vx_m_s": -5.234183435685989e-18, "vy_m_s": -5.436113112461209e-19, "vz_m_s": -0.7848000526428223, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-1.4941660672577975e-20, 1.7712777116941706e-20, -1.4941660672577975e-20, 1.7712777116941706e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0028043923496918043, "forward_m_s": 0.0683998314964864, "normal_height_m": 0.0979456529897033, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 5, "t_s": 0.096, "x_m": 0.011330246925354004, "y_m": 1.1517266060988273e-19, "z_m": 0.08335907757282257, "vx_m_s": -6.411303633560188e-18, "vy_m_s": -5.42414794490063e-19, "vz_m_s": -0.9417600631713867, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-1.800661687367983e-20, 2.134616795758088e-20, -1.800661687367983e-20, 2.134616795758088e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.004021909594488955, "forward_m_s": 0.08207979779578368, "normal_height_m": 0.08402936720215798, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 6, "t_s": 0.112, "x_m": 0.011330246925354004, "y_m": 1.5787587265762986e-19, "z_m": 0.06687827408313751, "vx_m_s": -7.588408528593054e-18, "vy_m_s": -6.015462141687224e-19, "vz_m_s": -1.0987200736999512, "tilt_rad": 0.08726593758531742, "wheel_position_rad": [-2.107157145919455e-20, 2.497955718263292e-20, -2.107157145919455e-20, 2.497955718263292e-20], "contacts": 0, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.005458306263710654, "forward_m_s": 0.09575976409508095, "normal_height_m": 0.06761127814544178, "ground_tilt_rad": 5.251470263810842e-07}
{"seq": 7, "t_s": 0.128, "x_m": 0.01143176294863224, "y_m": 4.318012614135114e-09, "z_m": 0.056369852274656296, "vx_m_s": 0.011003049090504646, "vy_m_s": 1.1490669749036897e-07, "vz_m_s": -0.19295716285705566, "tilt_rad": 0.08727140333131671, "wheel_position_rad": [0.00030326147680170834, 0.00028465024661272764, 0.00030060671269893646, 0.00028226981521584094], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0064753052956956604, "forward_m_s": 0.02777850401409146, "normal_height_m": 0.05715169175893073, "ground_tilt_rad": 4.940808017471191e-06}
{"seq": 8, "t_s": 0.14400000000000002, "x_m": 0.011641304939985275, "y_m": 2.4877968129999317e-08, "z_m": 0.056713592261075974, "vx_m_s": 0.013827691785991192, "vy_m_s": -5.647598300129175e-07, "vz_m_s": 0.1076759472489357, "tilt_rad": 0.08726867049754909, "wheel_position_rad": [0.0004941700026392937, 0.00045444571878761053, 0.0004884306690655649, 0.0004493847081903368], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.006654091002680662, "forward_m_s": 0.004390496085512554, "normal_height_m": 0.05751238649881734, "ground_tilt_rad": 2.216669813569001e-06}
{"seq": 9, "t_s": 0.16, "x_m": 0.011849822476506233, "y_m": 7.700596427184792e-08, "z_m": 0.05867493152618408, "vx_m_s": 0.012268487364053726, "vy_m_s": 2.062560042759287e-06, "vz_m_s": 0.11843746155500412, "tilt_rad": 0.08726867049364105, "wheel_position_rad": [0.000576410791836679, 0.0005172948585823178, 0.0005685776704922318, 0.0005104186129756272], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0066908730865913495, "forward_m_s": 0.0018992971347023043, "normal_height_m": 0.05948443577664859, "ground_tilt_rad": 2.251900239193559e-06}
{"seq": 10, "t_s": 0.176, "x_m": 0.012032547034323215, "y_m": 1.0375967463005509e-07, "z_m": 0.060251448303461075, "vx_m_s": 0.0107726426795125, "vy_m_s": 2.0995662453060504e-06, "vz_m_s": 0.08209320902824402, "tilt_rad": 0.08726867048834329, "wheel_position_rad": [0.0006365083972923458, 0.0005590944201685488, 0.0006268974975682795, 0.0005506600136868656], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.006735499831622066, "forward_m_s": 0.0035767549143718444, "normal_height_m": 0.06107087892617939, "ground_tilt_rad": 2.230948188416002e-06}
{"seq": 11, "t_s": 0.192, "x_m": 0.012191091664135456, "y_m": 1.2884902389487252e-07, "z_m": 0.06126390025019646, "vx_m_s": 0.00922123808413744, "vy_m_s": 2.0921627310599433e-06, "vz_m_s": 0.0502227358520031, "tilt_rad": 0.08726867048172206, "wheel_position_rad": [0.0006975962896831334, 0.0006015117978677154, 0.0006862001027911901, 0.0005914915818721056], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0068052001498379025, "forward_m_s": 0.004808948643258633, "normal_height_m": 0.062093296262559786, "ground_tilt_rad": 2.2147156302324562e-06}
{"seq": 12, "t_s": 0.20800000000000002, "x_m": 0.012323585338890553, "y_m": 1.571051626569897e-07, "z_m": 0.061865031719207764, "vx_m_s": 0.007535459939390421, "vy_m_s": 2.0798561308765784e-06, "vz_m_s": 0.029181022197008133, "tilt_rad": 0.08726867047378624, "wheel_position_rad": [0.0007642231066711247, 0.0006477354327216744, 0.0007509572897106409, 0.0006360510597005486], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.006884797586488952, "forward_m_s": 0.00496349157558734, "normal_height_m": 0.06270368782947759, "ground_tilt_rad": 2.2090437484213386e-06}
{"seq": 13, "t_s": 0.224, "x_m": 0.012428143061697483, "y_m": 1.8867254425458668e-07, "z_m": 0.06220736354589462, "vx_m_s": 0.00574840884655714, "vy_m_s": 2.068413778033573e-06, "vz_m_s": 0.01630631648004055, "tilt_rad": 0.08726867046452567, "wheel_position_rad": [0.0008352033910341561, 0.0006969262612983584, 0.0008201226009987295, 0.0006836577085778117], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0069591212509727066, "forward_m_s": 0.004305345291107597, "normal_height_m": 0.06305382978620236, "ground_tilt_rad": 2.2077869388408535e-06}
{"seq": 14, "t_s": 0.24, "x_m": 0.012503444217145443, "y_m": 2.2254606335536664e-07, "z_m": 0.0623963326215744, "vx_m_s": 0.0038928715512156487, "vy_m_s": 2.06266668101307e-06, "vz_m_s": 0.00895527470856905, "tilt_rad": 0.08726867045395308, "wheel_position_rad": [0.0009090716484934092, 0.0007480548229068518, 0.0008923246641643345, 0.0007333966786973178], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007017666122642937, "forward_m_s": 0.0030975543809385647, "normal_height_m": 0.06324864270563067, "ground_tilt_rad": 2.2079880764478706e-06}
{"seq": 15, "t_s": 0.256, "x_m": 0.0125488406047225, "y_m": 2.6174689082836267e-07, "z_m": 0.06250052154064178, "vx_m_s": 0.0020667004864662886, "vy_m_s": 2.2243680177780334e-06, "vz_m_s": 0.004970725160092115, "tilt_rad": 0.0872714032726534, "wheel_position_rad": [0.000984405167400837, 0.0008004348492249846, 0.0009660270297899842, 0.0007844505016691983], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007053809100632325, "forward_m_s": 0.001625608823839048, "normal_height_m": 0.06335639171028284, "ground_tilt_rad": 4.940673192782341e-06}
{"seq": 16, "t_s": 0.272, "x_m": 0.01257336512207985, "y_m": 3.2176120612348313e-07, "z_m": 0.06255881488323212, "vx_m_s": 0.0012600140180438757, "vy_m_s": 3.2921129786700476e-06, "vz_m_s": 0.0028009451925754547, "tilt_rad": 0.08726867042574975, "wheel_position_rad": [0.0010525587713345885, 0.0008539262926205993, 0.0010326470946893096, 0.000836674589663744], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007073159695226272, "forward_m_s": 0.0010111008256421898, "normal_height_m": 0.06341660068163119, "ground_tilt_rad": 2.2098477314326886e-06}
{"seq": 17, "t_s": 0.28800000000000003, "x_m": 0.012591221369802952, "y_m": 2.853705609595636e-07, "z_m": 0.06259186565876007, "vx_m_s": 0.0010357555001974106, "vy_m_s": 4.236368113197386e-06, "vz_m_s": 0.0015921859303489327, "tilt_rad": 0.0872686704116398, "wheel_position_rad": [0.0011152056977152824, 0.0009078525472432375, 0.0010940049542114139, 0.0008895175997167826], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007088067429646315, "forward_m_s": 0.0008930459904640919, "normal_height_m": 0.06345108196351294, "ground_tilt_rad": 2.468335859347554e-06}
{"seq": 18, "t_s": 0.304, "x_m": 0.012607055716216564, "y_m": 1.1483141548751519e-07, "z_m": 0.06261066347360611, "vx_m_s": 0.0009570576366968453, "vy_m_s": -5.636597961711232e-06, "vz_m_s": 0.0009021854493767023, "tilt_rad": 0.08726867040211428, "wheel_position_rad": [0.00117671478074044, 0.0009617466712370515, 0.001154337078332901, 0.0009424149757251143], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007102203184076363, "forward_m_s": 0.0008747851005090571, "normal_height_m": 0.06347118830122088, "ground_tilt_rad": 3.672131099580648e-06}
{"seq": 19, "t_s": 0.32, "x_m": 0.012622029520571232, "y_m": 3.933623204943615e-08, "z_m": 0.06262116879224777, "vx_m_s": 0.0009199898922815919, "vy_m_s": -8.24694234324852e-06, "vz_m_s": 0.0004979733494110405, "tilt_rad": 0.08726867039065767, "wheel_position_rad": [0.0012380375992506742, 0.0010156342759728432, 0.001214503892697394, 0.0009953193366527557], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0071162044097357316, "forward_m_s": 0.0008730878158524596, "normal_height_m": 0.06348295869699376, "ground_tilt_rad": 3.250571422069025e-06}
{"seq": 20, "t_s": 0.336, "x_m": 0.012636563740670681, "y_m": -9.868060146800417e-09, "z_m": 0.06262684613466263, "vx_m_s": 0.0008995415992103517, "vy_m_s": -6.433858288801275e-06, "vz_m_s": 0.0002621995226945728, "tilt_rad": 0.08726867037888897, "wheel_position_rad": [0.0012993294512853026, 0.0010695267701521516, 0.0012746494030579925, 0.00104823661968112], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007130188509744701, "forward_m_s": 0.0008732663776977953, "normal_height_m": 0.06348988117615471, "ground_tilt_rad": 2.7230419638468808e-06}
{"seq": 21, "t_s": 0.352, "x_m": 0.012650847434997559, "y_m": -4.029357469903516e-08, "z_m": 0.06262969225645065, "vx_m_s": 0.0008876389474608004, "vy_m_s": -4.14305213780608e-06, "vz_m_s": 0.00012363537098281085, "tilt_rad": 0.08726867036720436, "wheel_position_rad": [0.0013606158317998052, 0.001123425317928195, 0.001334791537374258, 0.0011011612368747592], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007144169794443915, "forward_m_s": 0.0008734856806922977, "normal_height_m": 0.06349396137357831, "ground_tilt_rad": 2.4264197286516802e-06}
{"seq": 22, "t_s": 0.368, "x_m": 0.012664985843002796, "y_m": -5.639249778255362e-08, "z_m": 0.06263087689876556, "vx_m_s": 0.0008806155528873205, "vy_m_s": -2.4176351871574298e-06, "vz_m_s": 4.1918658098438755e-05, "tilt_rad": 0.08726867035554012, "wheel_position_rad": [0.0014219011645764112, 0.0011773282894864678, 0.001394932041876018, 0.0011540896957740188], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007158151153157343, "forward_m_s": 0.0008736110930619253, "normal_height_m": 0.06349637375142253, "ground_tilt_rad": 2.295601143205867e-06}
{"seq": 23, "t_s": 0.384, "x_m": 0.012679037638008595, "y_m": -6.280108522105365e-08, "z_m": 0.06263107806444168, "vx_m_s": 0.000876460166182369, "vy_m_s": -1.2928558135172352e-06, "vz_m_s": -6.3480310927843675e-06, "tilt_rad": 0.08726867034376759, "wheel_position_rad": [0.0014831862645223737, 0.0012312340550124645, 0.0014550716150552034, 0.0012070200173184276], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007172131944096875, "forward_m_s": 0.000873678238004363, "normal_height_m": 0.06349779884623317, "ground_tilt_rad": 2.243305357284875e-06}
{"seq": 24, "t_s": 0.4, "x_m": 0.012693038210272789, "y_m": -6.310320799229885e-08, "z_m": 0.06263069808483124, "vx_m_s": 0.0008740012999624014, "vy_m_s": -5.994570528855547e-07, "vz_m_s": -3.4876899007940665e-05, "tilt_rad": 0.0872686703317798, "wheel_position_rad": [0.001544471364468336, 0.0012851415667682886, 0.001515210373327136, 0.0012599515030160546], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007186112357361893, "forward_m_s": 0.0008737151831856098, "normal_height_m": 0.06349864054283445, "ground_tilt_rad": 2.2228716997161027e-06}
{"seq": 25, "t_s": 0.41600000000000004, "x_m": 0.012707008980214596, "y_m": -5.968782801346606e-08, "z_m": 0.06262998282909393, "vx_m_s": 0.0008725466905161738, "vy_m_s": -1.819562953642162e-07, "vz_m_s": -5.174452962819487e-05, "tilt_rad": 0.08726867031950541, "wheel_position_rad": [0.0016057562315836549, 0.0013390500098466873, 0.0015753487823531032, 0.0013128836872056127], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00720009230295122, "forward_m_s": 0.0008737362198425851, "normal_height_m": 0.0634991456416922, "ground_tilt_rad": 2.2147156302324562e-06}
{"seq": 26, "t_s": 0.432, "x_m": 0.01272096112370491, "y_m": -5.404547209764132e-08, "z_m": 0.06262905150651932, "vx_m_s": 0.0008716864977031946, "vy_m_s": 6.686042297587846e-08, "vz_m_s": -6.171880522742867e-05, "tilt_rad": 0.08726867030689346, "wheel_position_rad": [0.0016670412151142955, 0.001392959151417017, 0.0016354868421331048, 0.0013658161042258143], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0072140725244340155, "forward_m_s": 0.0008737486157211796, "normal_height_m": 0.06349943387250997, "ground_tilt_rad": 2.2113042055902285e-06}
{"seq": 27, "t_s": 0.448, "x_m": 0.012734903022646904, "y_m": -4.707892387045831e-08, "z_m": 0.06262800842523575, "vx_m_s": 0.0008711778791621327, "vy_m_s": 2.144774668977334e-07, "vz_m_s": -6.761722033843398e-05, "tilt_rad": 0.08726867029392102, "wheel_position_rad": [0.001728326198644936, 0.0014468685258179903, 0.0016956247854977846, 0.0014187487540766597], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007228052280765375, "forward_m_s": 0.0008737560133772563, "normal_height_m": 0.06349960987702322, "ground_tilt_rad": 2.2098979706590813e-06}
{"seq": 28, "t_s": 0.464, "x_m": 0.01274883933365345, "y_m": -3.9327741063743815e-08, "z_m": 0.06262689083814621, "vx_m_s": 0.0008708771783858538, "vy_m_s": 3.0187416655280686e-07, "vz_m_s": -7.110540173016489e-05, "tilt_rad": 0.08726867028056262, "wheel_position_rad": [0.0017896110657602549, 0.0015007781330496073, 0.0017557627288624644, 0.0014716815203428268], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007242032964033928, "forward_m_s": 0.00087376047189825, "normal_height_m": 0.0634997111722269, "ground_tilt_rad": 2.2091945175231113e-06}
{"seq": 29, "t_s": 0.48, "x_m": 0.012763163074851036, "y_m": -5.16502538516761e-08, "z_m": 0.0626256987452507, "vx_m_s": 0.0009274751646444201, "vy_m_s": -2.4303058125951793e-06, "vz_m_s": -7.860890764277428e-05, "tilt_rad": 0.08726867030250265, "wheel_position_rad": [0.0018516721902415156, 0.0015562305925413966, 0.0018177698366343975, 0.0015196178574115038], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007256406096813534, "forward_m_s": 0.0009307970593627282, "normal_height_m": 0.06349977201190775, "ground_tilt_rad": 2.2080886383806737e-06}
{"seq": 30, "t_s": 0.496, "x_m": 0.012778681702911854, "y_m": -7.511799537951447e-08, "z_m": 0.06262437999248505, "vx_m_s": 0.0009425276075489819, "vy_m_s": -4.271314537618309e-07, "vz_m_s": -7.223746797535568e-05, "tilt_rad": 0.08726867033777434, "wheel_position_rad": [0.0019173416076228023, 0.0016095333267003298, 0.001883822144009173, 0.0015622606733813882], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007271980608686168, "forward_m_s": 0.0009452369156209956, "normal_height_m": 0.06349981081494958, "ground_tilt_rad": 2.212006987812196e-06}
{"seq": 31, "t_s": 0.512, "x_m": 0.012795335613191128, "y_m": -1.66005406754266e-07, "z_m": 0.06262297183275223, "vx_m_s": 0.001058470574207604, "vy_m_s": -1.0362239663663786e-05, "vz_m_s": -9.088046499527991e-05, "tilt_rad": 0.08726593747558199, "wheel_position_rad": [0.0019758243579417467, 0.0016691212076693773, 0.001955247251316905, 0.0015989721287041903], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0072886938750163, "forward_m_s": 0.0010623635285396567, "normal_height_m": 0.06349985949760972, "ground_tilt_rad": 6.339564140493573e-07}
{"seq": 32, "t_s": 0.528, "x_m": 0.012812577188014984, "y_m": 2.5401240577593853e-07, "z_m": 0.06262152642011642, "vx_m_s": 0.0010623956331983209, "vy_m_s": 2.1443633158924058e-05, "vz_m_s": -9.089418017538264e-05, "tilt_rad": 0.0872659371059642, "wheel_position_rad": [0.002033524913713336, 0.001727189519442618, 0.002023280132561922, 0.0016436021542176604], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007305995816454426, "forward_m_s": 0.001066274846852615, "normal_height_m": 0.0634999222874653, "ground_tilt_rad": 5.911837346815366e-07}
{"seq": 33, "t_s": 0.544, "x_m": 0.012831117026507854, "y_m": 1.0968983588099945e-07, "z_m": 0.0626199021935463, "vx_m_s": 0.001253866939805448, "vy_m_s": -1.383822200295981e-05, "vz_m_s": -0.00011063506099162623, "tilt_rad": 0.08726593721600663, "wheel_position_rad": [0.002095272531732917, 0.0017864186083897948, 0.002088546520099044, 0.0016827017534524202], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0073246066659376115, "forward_m_s": 0.0012587380784613669, "normal_height_m": 0.0634999200949619, "ground_tilt_rad": 6.372751230103808e-07}
{"seq": 34, "t_s": 0.56, "x_m": 0.012851587496697903, "y_m": 5.776251441602653e-07, "z_m": 0.06261815130710602, "vx_m_s": 0.0013005054788663983, "vy_m_s": 2.5438803277211264e-05, "vz_m_s": -0.0001146001013694331, "tilt_rad": 0.087265936270394, "wheel_position_rad": [0.0021587954834103584, 0.0018411892233416438, 0.00215171673335135, 0.0017284328350797296], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007345151839616552, "forward_m_s": 0.0013055447198397825, "normal_height_m": 0.06349995999020694, "ground_tilt_rad": 5.617164619258348e-07}
{"seq": 35, "t_s": 0.5760000000000001, "x_m": 0.01287923101335764, "y_m": 3.363039240866783e-06, "z_m": 0.06261475384235382, "vx_m_s": 0.0025563177186995745, "vy_m_s": 0.0005978716071695089, "vz_m_s": -0.00035539933014661074, "tilt_rad": 0.08733150288796436, "wheel_position_rad": [0.002204747637733817, 0.001907267840579152, 0.0022246120497584343, 0.0017504901625216007], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00737298627291353, "forward_m_s": 0.0025775652505974503, "normal_height_m": 0.0634989847450605, "ground_tilt_rad": 7.978372125150736e-05}
{"seq": 36, "t_s": 0.592, "x_m": 0.012911679223179817, "y_m": 5.292467449180549e-06, "z_m": 0.06261180341243744, "vx_m_s": 0.0017799332272261381, "vy_m_s": -8.117310062516481e-05, "vz_m_s": -0.00012613044236786664, "tilt_rad": 0.0873424268062927, "wheel_position_rad": [0.0022309347987174988, 0.0020076974760740995, 0.002337580779567361, 0.0017509269528090954], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007405568154411737, "forward_m_s": 0.001784153036307671, "normal_height_m": 0.06349887359024858, "ground_tilt_rad": 9.268423203783286e-05}
{"seq": 37, "t_s": 0.608, "x_m": 0.01293784100562334, "y_m": 4.340326540841488e-06, "z_m": 0.06260981410741806, "vx_m_s": 0.0013699773699045181, "vy_m_s": -0.00017370561545249075, "vz_m_s": -8.115590026136488e-05, "tilt_rad": 0.08731511571750122, "wheel_position_rad": [0.0022573070600628853, 0.002105667721480131, 0.0024495446123182774, 0.0017509466269984841], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007431803762731121, "forward_m_s": 0.0013718373951701892, "normal_height_m": 0.06349917200471586, "ground_tilt_rad": 5.9193652646979334e-05}
{"seq": 38, "t_s": 0.624, "x_m": 0.012961412779986858, "y_m": 3.20253593599773e-06, "z_m": 0.06260797381401062, "vx_m_s": 0.001352253369987011, "vy_m_s": -0.00013798929285258055, "vz_m_s": -9.164725634036586e-05, "tilt_rad": 0.08729052831528888, "wheel_position_rad": [0.002283282345160842, 0.0022005881182849407, 0.0025576981715857983, 0.001750938594341278], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007455446231515472, "forward_m_s": 0.0013550952223548855, "normal_height_m": 0.06349939312968296, "ground_tilt_rad": 2.9235220028951294e-05}
{"seq": 39, "t_s": 0.64, "x_m": 0.012984883971512318, "y_m": 2.3350135052169207e-06, "z_m": 0.06260605156421661, "vx_m_s": 0.0014053902123123407, "vy_m_s": -9.200414933729917e-05, "vz_m_s": -0.00010646179725881666, "tilt_rad": 0.08727413233760765, "wheel_position_rad": [0.00230918126180768, 0.0022949432022869587, 0.002664872445166111, 0.0017509290482848883], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007478995643179573, "forward_m_s": 0.0014093210352699294, "normal_height_m": 0.06349952384376034, "ground_tilt_rad": 9.169434111387777e-06}
{"seq": 40, "t_s": 0.656, "x_m": 0.013006900437176228, "y_m": 1.798601942937239e-06, "z_m": 0.06260424852371216, "vx_m_s": 0.001141084241680801, "vy_m_s": -3.380207272130065e-05, "vz_m_s": -8.795344911050051e-05, "tilt_rad": 0.08726593249830744, "wheel_position_rad": [0.002343167085200548, 0.0023817603942006826, 0.0027637495659291744, 0.0017627842025831342], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00750108547487905, "forward_m_s": 0.001144407719822898, "normal_height_m": 0.06349964652578698, "ground_tilt_rad": 1.3642499325570447e-06}
{"seq": 41, "t_s": 0.672, "x_m": 0.013040284626185894, "y_m": 2.2911342512088595e-06, "z_m": 0.06258810311555862, "vx_m_s": 0.0012978343293070793, "vy_m_s": 2.0053674234077334e-05, "vz_m_s": -0.006230599246919155, "tilt_rad": 0.08716201722694686, "wheel_position_rad": [0.002375474665313959, 0.002460695104673505, 0.0028617139905691147, 0.0017725300276651978], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0075357497920101576, "forward_m_s": 0.0018359281829854073, "normal_height_m": 0.06348647217957507, "ground_tilt_rad": 0.00010474071362879896}
{"seq": 42, "t_s": 0.6880000000000001, "x_m": 0.013089669868350029, "y_m": 2.0178822524030693e-06, "z_m": 0.06250052154064178, "vx_m_s": 0.0033841528929769993, "vy_m_s": -3.9370523154502735e-05, "vz_m_s": -0.002151695778593421, "tilt_rad": 0.08724679695397153, "wheel_position_rad": [0.002456051530316472, 0.0024799490347504616, 0.002913106232881546, 0.0018141301115974784], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007592580345630933, "forward_m_s": 0.0035588078132658394, "normal_height_m": 0.06340352808645397, "ground_tilt_rad": 1.993952993281315e-05}
{"seq": 43, "t_s": 0.704, "x_m": 0.01312046218663454, "y_m": 1.5804897657289985e-06, "z_m": 0.06250922381877899, "vx_m_s": 0.0015786003787070513, "vy_m_s": -2.1821648260811344e-05, "vz_m_s": 0.0014957113889977336, "tilt_rad": 0.08731783906281888, "wheel_position_rad": [0.002537898952141404, 0.0025322262663394213, 0.0029892672318965197, 0.0018694904865697026], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007622497036333271, "forward_m_s": 0.0014422334906293573, "normal_height_m": 0.06341488097716659, "ground_tilt_rad": 5.140486170689711e-05}
{"seq": 44, "t_s": 0.72, "x_m": 0.013139485381543636, "y_m": 1.416567329215468e-06, "z_m": 0.0625353679060936, "vx_m_s": 0.000971615023445338, "vy_m_s": -5.370096005208325e-06, "vz_m_s": 0.0015602917410433292, "tilt_rad": 0.0873123759340052, "wheel_position_rad": [0.0026056021451950073, 0.002586090238764882, 0.0030550523661077023, 0.001923058065585792], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007639169234894115, "forward_m_s": 0.0008319293493488646, "normal_height_m": 0.06344258355901758, "ground_tilt_rad": 4.5937288035009964e-05}
{"seq": 45, "t_s": 0.736, "x_m": 0.013154859654605389, "y_m": 1.2929789363624877e-06, "z_m": 0.06255576759576797, "vx_m_s": 0.0008531202911399305, "vy_m_s": -5.827986569784116e-06, "vz_m_s": 0.0010692770592868328, "tilt_rad": 0.08729871736006518, "wheel_position_rad": [0.002667865948751569, 0.0026399632915854454, 0.0031160323414951563, 0.001976065570488572], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007652707054099855, "forward_m_s": 0.0007566802745629094, "normal_height_m": 0.06346424557790181, "ground_tilt_rad": 3.231633829974958e-05}
{"seq": 46, "t_s": 0.752, "x_m": 0.01316931564360857, "y_m": 1.2438865724107018e-06, "z_m": 0.06256866455078125, "vx_m_s": 0.000842257053591311, "vy_m_s": -5.46429419046035e-06, "vz_m_s": 0.0006455244147218764, "tilt_rad": 0.08728778903183249, "wheel_position_rad": [0.002729122992604971, 0.002693716436624527, 0.0031761208083480597, 0.0020288636442273855], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007665983990007131, "forward_m_s": 0.0007827908513912067, "normal_height_m": 0.06347835337856629, "ground_tilt_rad": 2.1378560476084127e-05}
{"seq": 47, "t_s": 0.768, "x_m": 0.013183483853936195, "y_m": 1.2159132438682718e-06, "z_m": 0.06257613003253937, "vx_m_s": 0.0008495506481267512, "vy_m_s": -3.824034592980752e-06, "vz_m_s": 0.0003618795599322766, "tilt_rad": 0.0872795919172991, "wheel_position_rad": [0.002790261059999466, 0.0027474891394376755, 0.0032361105550080538, 0.0020816654432564974], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0076794476264093635, "forward_m_s": 0.0008147779695931825, "normal_height_m": 0.06348702529280693, "ground_tilt_rad": 1.3165823133880564e-05}
{"seq": 48, "t_s": 0.784, "x_m": 0.013197537511587143, "y_m": 1.200997417072358e-06, "z_m": 0.06258013844490051, "vx_m_s": 0.0008570845238864422, "vy_m_s": -2.3128839075070573e-06, "vz_m_s": 0.00018577217997517437, "tilt_rad": 0.08727412677662756, "wheel_position_rad": [0.002851429395377636, 0.002801306080073118, 0.0032961333636194468, 0.0021345082204788923], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007693098449493459, "forward_m_s": 0.0008376319461845739, "normal_height_m": 0.06349224330891977, "ground_tilt_rad": 7.689331268395435e-06}
{"seq": 49, "t_s": 0.8, "x_m": 0.013211536221206188, "y_m": 1.1951382248298614e-06, "z_m": 0.06258203089237213, "vx_m_s": 0.0008623061585240066, "vy_m_s": -1.251646153832553e-06, "vz_m_s": 7.949615246616304e-05, "tilt_rad": 0.08727139412223676, "wheel_position_rad": [0.0029126382432878017, 0.002855157945305109, 0.0033561966847628355, 0.002187384758144617], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.0077068789521310774, "forward_m_s": 0.0008520962770397061, "normal_height_m": 0.06349534862299176, "ground_tilt_rad": 4.9473650451675766e-06}
{"seq": 50, "t_s": 0.8160000000000001, "x_m": 0.013225505128502846, "y_m": 1.195173126689042e-06, "z_m": 0.06258265674114227, "vx_m_s": 0.0008655766723677516, "vy_m_s": -5.76339289182215e-07, "vz_m_s": 1.6098567357403226e-05, "tilt_rad": 0.08727139421122844, "wheel_position_rad": [0.0029738761950284243, 0.002909032627940178, 0.0034162888769060373, 0.0022402836475521326], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007720740157203733, "forward_m_s": 0.0008608798092094423, "normal_height_m": 0.0634971895607092, "ground_tilt_rad": 4.938380609893855e-06}
{"seq": 51, "t_s": 0.8320000000000001, "x_m": 0.013239456340670586, "y_m": 1.1988639698756742e-06, "z_m": 0.06258253008127213, "vx_m_s": 0.0008675536373630166, "vy_m_s": -1.6393730106756266e-07, "vz_m_s": -2.1537807697313838e-05, "tilt_rad": 0.08726866146836264, "wheel_position_rad": [0.0030351330060511827, 0.0029629217460751534, 0.003476399229839444, 0.0022931965067982674], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007734649319932249, "forward_m_s": 0.0008661294774782617, "normal_height_m": 0.06349827931107681, "ground_tilt_rad": 2.2059255465527466e-06}
{"seq": 52, "t_s": 0.848, "x_m": 0.013253397308290005, "y_m": 1.204766022055992e-06, "z_m": 0.06258196383714676, "vx_m_s": 0.0008687324007041752, "vy_m_s": 8.344275670424395e-08, "vz_m_s": -4.38350580225233e-05, "tilt_rad": 0.08726866155522348, "wheel_position_rad": [0.0030964012257754803, 0.0030168192461133003, 0.0035365207586437464, 0.00234611751511693], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007748586589388305, "forward_m_s": 0.0008692470886823529, "normal_height_m": 0.06349893025706878, "ground_tilt_rad": 2.2026013195785046e-06}
{"seq": 53, "t_s": 0.864, "x_m": 0.013267332687973976, "y_m": 1.211989001603797e-06, "z_m": 0.0625811293721199, "vx_m_s": 0.0008694313000887632, "vy_m_s": 2.3066493781698227e-07, "vz_m_s": -5.703326314687729e-05, "tilt_rad": 0.08726866164138117, "wheel_position_rad": [0.0031576761975884438, 0.003070721635594964, 0.003596648806706071, 0.0023990434128791094], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007762541669164585, "forward_m_s": 0.000871093627914328, "normal_height_m": 0.06349931351580011, "ground_tilt_rad": 2.201239961629806e-06}
{"seq": 54, "t_s": 0.88, "x_m": 0.013281264342367649, "y_m": 1.219996534018719e-06, "z_m": 0.06258013099431992, "vx_m_s": 0.0008698448655195534, "vy_m_s": 3.179692669164069e-07, "vz_m_s": -6.484262848971412e-05, "tilt_rad": 0.08726866172695417, "wheel_position_rad": [0.0032189551275223494, 0.003124627284705639, 0.0036567808128893375, 0.0024519721046090126], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007776507323765909, "forward_m_s": 0.000872186250640638, "normal_height_m": 0.06349953316081546, "ground_tilt_rad": 2.2006346433283482e-06}
{"seq": 55, "t_s": 0.896, "x_m": 0.013295194134116173, "y_m": 1.2284687045394094e-06, "z_m": 0.06257905066013336, "vx_m_s": 0.0008700892794877291, "vy_m_s": 3.696528381169628e-07, "vz_m_s": -6.946268695173785e-05, "tilt_rad": 0.08726866181201258, "wheel_position_rad": [0.0032802363857626915, 0.0031785345636308193, 0.0037169153802096844, 0.002504902658984065], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007790478265779755, "forward_m_s": 0.0008728323991666695, "normal_height_m": 0.0634996709989728, "ground_tilt_rad": 2.2002814640819047e-06}
{"seq": 56, "t_s": 0.912, "x_m": 0.01330929808318615, "y_m": 1.228896849170269e-06, "z_m": 0.06257789582014084, "vx_m_s": 0.0009108636877499521, "vy_m_s": -1.3591213701147353e-06, "vz_m_s": -7.612453919136897e-05, "tilt_rad": 0.08726866180623842, "wheel_position_rad": [0.0033419011160731316, 0.0032331496477127075, 0.003777866717427969, 0.002555432729423046], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007804629196002726, "forward_m_s": 0.0009140322671753444, "normal_height_m": 0.06349974979365197, "ground_tilt_rad": 2.19987776122743e-06}
{"seq": 57, "t_s": 0.928, "x_m": 0.013324628584086895, "y_m": 1.2036247198921046e-06, "z_m": 0.06257658451795578, "vx_m_s": 0.0009611787390895188, "vy_m_s": -2.42419127971516e-06, "vz_m_s": -8.233969856519252e-05, "tilt_rad": 0.08726866145804862, "wheel_position_rad": [0.0034067367669194937, 0.0032880420330911875, 0.0038436194881796837, 0.002597175305709243], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007820015647235045, "forward_m_s": 0.0009646975413855555, "normal_height_m": 0.06349977962256033, "ground_tilt_rad": 2.1988681798244533e-06}
{"seq": 58, "t_s": 0.9440000000000001, "x_m": 0.01334035862237215, "y_m": 1.1712890000126208e-06, "z_m": 0.0625753402709961, "vx_m_s": 0.0010195608483627439, "vy_m_s": 3.5255397961009294e-06, "vz_m_s": -7.721351721556857e-05, "tilt_rad": 0.0872659287164949, "wheel_position_rad": [0.0034739249385893345, 0.0033371273893862963, 0.003909121733158827, 0.0026428839191794395], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00783579427124353, "forward_m_s": 0.0010224107129639696, "normal_height_m": 0.06349991107350618, "ground_tilt_rad": 8.975398746953071e-07}
{"seq": 59, "t_s": 0.96, "x_m": 0.013371486216783524, "y_m": 9.440537951377337e-07, "z_m": 0.06257257610559464, "vx_m_s": 0.002211339771747589, "vy_m_s": 6.516414578072727e-05, "vz_m_s": -0.00020028767175972462, "tilt_rad": 0.08726866275344186, "wheel_position_rad": [0.003567946143448353, 0.0033531554508954287, 0.00393553776666522, 0.002714991569519043], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00786704432864913, "forward_m_s": 0.002220381177089777, "normal_height_m": 0.06349987037519945, "ground_tilt_rad": 2.6894015990239037e-06}
{"seq": 60, "t_s": 0.976, "x_m": 0.013404124416410923, "y_m": 1.3400469924818026e-06, "z_m": 0.06256979703903198, "vx_m_s": 0.002166514750570059, "vy_m_s": -2.23145070776809e-05, "vz_m_s": -0.00019208190497010946, "tilt_rad": 0.08727413162311211, "wheel_position_rad": [0.003678630804643035, 0.0033601433970034122, 0.003956617321819067, 0.0028054453432559967], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.00789980054168362, "forward_m_s": 0.0021750115489515085, "normal_height_m": 0.06349994649035458, "ground_tilt_rad": 9.002879090230358e-06}
{"seq": 61, "t_s": 0.992, "x_m": 0.013438770547509193, "y_m": 1.6781824569989112e-06, "z_m": 0.0625666156411171, "vx_m_s": 0.0019480000482872128, "vy_m_s": 6.1003440350759774e-05, "vz_m_s": -0.00016851213877089322, "tilt_rad": 0.08726593360644372, "wheel_position_rad": [0.0038012624718248844, 0.003360340604558587, 0.003971477970480919, 0.0028979689814150333], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 0.0, "along_m": 0.007934592110891356, "forward_m_s": 0.0019552741206027595, "normal_height_m": 0.06349979680790845, "ground_tilt_rad": 5.395372805068461e-07}
{"seq": 62, "t_s": 1.008, "x_m": 0.01347167044878006, "y_m": 1.5970654203556478e-06, "z_m": 0.06256376951932907, "vx_m_s": 0.002257377142086625, "vy_m_s": 4.391829133965075e-05, "vz_m_s": -0.00020739836327265948, "tilt_rad": 0.08727140037995722, "wheel_position_rad": [0.003913584165275097, 0.0033635245636105537, 0.003987343981862068, 0.0029915047343820333], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.007967614873963521, "forward_m_s": 0.00226686309893587, "normal_height_m": 0.06349982893180468, "ground_tilt_rad": 6.289649343022146e-06}
{"seq": 63, "t_s": 1.024, "x_m": 0.01376443263143301, "y_m": -1.609929859114345e-05, "z_m": 0.06246102973818779, "vx_m_s": 0.030639637261629105, "vy_m_s": 0.000782348564825952, "vz_m_s": -0.0032855693716555834, "tilt_rad": 0.08704700788767125, "wheel_position_rad": [0.006795378401875496, 0.006329831201583147, 0.006997266784310341, 0.005845766048878431], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.008268217370059257, "forward_m_s": 0.0308094004304248, "normal_height_m": 0.06342299601202617, "ground_tilt_rad": 0.0004136411416687706}
{"seq": 64, "t_s": 1.04, "x_m": 0.014517060481011868, "y_m": 5.056932650404633e-07, "z_m": 0.062424201518297195, "vx_m_s": 0.060487084090709686, "vy_m_s": 0.0007165237329900265, "vz_m_s": -0.0027028536424040794, "tilt_rad": 0.08714286354874451, "wheel_position_rad": [0.014506880193948746, 0.014553493820130825, 0.015338916331529617, 0.013527734205126762], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.009021191034304543, "forward_m_s": 0.0604924816909365, "normal_height_m": 0.06345190377387362, "ground_tilt_rad": 0.00032110149976701647}
{"seq": 65, "t_s": 1.056, "x_m": 0.015715889632701874, "y_m": 4.5306922402232885e-05, "z_m": 0.06229720637202263, "vx_m_s": 0.08814200013875961, "vy_m_s": -0.00030260183848440647, "vz_m_s": -0.008390246890485287, "tilt_rad": 0.08726866664776105, "wheel_position_rad": [0.027168329805135727, 0.02799050137400627, 0.028927430510520935, 0.026148749515414238], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.010226526635434862, "forward_m_s": 0.0885378514170107, "normal_height_m": 0.0634298767276146, "ground_tilt_rad": 0.0002293941351755855}
{"seq": 66, "t_s": 1.072, "x_m": 0.01738298125565052, "y_m": 3.4782304282998666e-05, "z_m": 0.06214626878499985, "vx_m_s": 0.11554430425167084, "vy_m_s": 0.0010047289542853832, "vz_m_s": -0.01538404356688261, "tilt_rad": 0.08730691652290033, "wheel_position_rad": [0.045057665556669235, 0.04637426882982254, 0.04746762290596962, 0.043966975063085556], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.011900429548954978, "forward_m_s": 0.116445431033748, "normal_height_m": 0.06342481011230623, "ground_tilt_rad": 0.00010068102635677258}
{"seq": 67, "t_s": 1.088, "x_m": 0.01951044797897339, "y_m": 2.0474604752962478e-05, "z_m": 0.06197156757116318, "vx_m_s": 0.14631035923957825, "vy_m_s": 0.0007737861014902592, "vz_m_s": -0.009714181534945965, "tilt_rad": 0.08733148549420451, "wheel_position_rad": [0.06812163442373276, 0.06972973048686981, 0.0710180401802063, 0.06695864349603653], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.01403502683314669, "forward_m_s": 0.14660025085723027, "normal_height_m": 0.06343619463177408, "ground_tilt_rad": 0.0002462698200540887}
{"seq": 68, "t_s": 1.104, "x_m": 0.022100333124399185, "y_m": 5.4128449846757576e-05, "z_m": 0.06175190210342407, "vx_m_s": 0.17358951270580292, "vy_m_s": -0.00030140927992761135, "vz_m_s": -0.01784944161772728, "tilt_rad": 0.08733969576516039, "wheel_position_rad": [0.09640859812498093, 0.0980062410235405, 0.09952176362276077, 0.09516596049070358], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.01663420179068325, "forward_m_s": 0.17448463354367455, "normal_height_m": 0.06344308842093925, "ground_tilt_rad": 0.00012009965520813664}
{"seq": 69, "t_s": 1.12, "x_m": 0.025148432701826096, "y_m": 5.9670754126273096e-05, "z_m": 0.06148785352706909, "vx_m_s": 0.20123524963855743, "vy_m_s": 0.0008264784701168537, "vz_m_s": -0.025276394560933113, "tilt_rad": 0.08733422472169247, "wheel_position_rad": [0.1298043429851532, 0.1313531994819641, 0.133100226521492, 0.12845221161842346], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.01969371577876531, "forward_m_s": 0.20267247170104075, "normal_height_m": 0.06344570401177521, "ground_tilt_rad": 0.0001870159818321748}
{"seq": 70, "t_s": 1.1360000000000001, "x_m": 0.028653860092163086, "y_m": 3.46498673025053e-05, "z_m": 0.06118054687976837, "vx_m_s": 0.23245497047901154, "vy_m_s": 0.0005490334588102996, "vz_m_s": -0.01726083643734455, "tilt_rad": 0.08733419729472444, "wheel_position_rad": [0.16826306283473969, 0.16979612410068512, 0.17179107666015625, 0.1667947620153427], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.02321258749866139, "forward_m_s": 0.23307479015640714, "normal_height_m": 0.06344508488689869, "ground_tilt_rad": 0.0002508561660472111}
{"seq": 71, "t_s": 1.1520000000000001, "x_m": 0.03262007236480713, "y_m": 7.182175613706931e-05, "z_m": 0.06082721799612045, "vx_m_s": 0.2606705129146576, "vy_m_s": -0.00010560103692114353, "vz_m_s": -0.022339340299367905, "tilt_rad": 0.08733968791743843, "wheel_position_rad": [0.21187500655651093, 0.21322570741176605, 0.21549749374389648, 0.21029458940029144], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.027194501777464332, "forward_m_s": 0.2616255847107219, "normal_height_m": 0.06343877870284313, "ground_tilt_rad": 0.00019696928761206875}
{"seq": 72, "t_s": 1.168, "x_m": 0.03704928234219551, "y_m": 5.7185752666555345e-05, "z_m": 0.060437750071287155, "vx_m_s": 0.28888723254203796, "vy_m_s": 0.0006354618817567825, "vz_m_s": -0.027792993932962418, "tilt_rad": 0.08733964437546429, "wheel_position_rad": [0.26054978370666504, 0.26176023483276367, 0.2643071413040161, 0.25883549451828003], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.03164080163993894, "forward_m_s": 0.29021024843418386, "normal_height_m": 0.06343682390641203, "ground_tilt_rad": 7.914202548717908e-05}
{"seq": 73, "t_s": 1.184, "x_m": 0.04194798693060875, "y_m": 4.614930003299378e-05, "z_m": 0.06004490703344345, "vx_m_s": 0.31928470730781555, "vy_m_s": 0.0004438977921381593, "vz_m_s": -0.024017708376049995, "tilt_rad": 0.08734508823293773, "wheel_position_rad": [0.3143084645271301, 0.3153482973575592, 0.3181915879249573, 0.3124563694000244], "contacts": 4, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.036555103705180426, "forward_m_s": 0.3201630138144319, "normal_height_m": 0.06347242599183439, "ground_tilt_rad": 0.0002689515186414979}
{"seq": 74, "t_s": 1.2, "x_m": 0.047299761325120926, "y_m": 8.879486995283514e-05, "z_m": 0.059565283358097076, "vx_m_s": 0.3479841649532318, "vy_m_s": 4.451279528439045e-05, "vz_m_s": -0.027380049228668213, "tilt_rad": 0.0873505915709091, "wheel_position_rad": [0.3731898367404938, 0.3739652931690216, 0.3771282434463501, 0.371206134557724], "contacts": 5, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.04192831494004079, "forward_m_s": 0.34904630867328496, "normal_height_m": 0.06346106530174667, "ground_tilt_rad": 0.000272602446481894}
{"seq": 75, "t_s": 1.216, "x_m": 0.053115591406822205, "y_m": 5.6094992032740265e-05, "z_m": 0.059045061469078064, "vx_m_s": 0.3768397569656372, "vy_m_s": 0.00042814697371795774, "vz_m_s": -0.03031122498214245, "tilt_rad": 0.08734504771458876, "wheel_position_rad": [0.43710529804229736, 0.43771788477897644, 0.4411970376968384, 0.43496090173721313], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.04776735435756513, "forward_m_s": 0.3780475652462597, "normal_height_m": 0.0634497060045395, "ground_tilt_rad": 0.0002262308023536188}
{"seq": 76, "t_s": 1.232, "x_m": 0.0593811459839344, "y_m": 8.281983173219487e-05, "z_m": 0.058477986603975296, "vx_m_s": 0.4011731445789337, "vy_m_s": -0.00043159606866538525, "vz_m_s": -0.038184188306331635, "tilt_rad": 0.08732597454851408, "wheel_position_rad": [0.5041567087173462, 0.5046905279159546, 0.508216381072998, 0.5019908547401428], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.05405849043895033, "forward_m_s": 0.40297453093938185, "normal_height_m": 0.06343086809339724, "ground_tilt_rad": 0.00014416432432619685}
{"seq": 77, "t_s": 1.248, "x_m": 0.0658922791481018, "y_m": 0.00010076006583403796, "z_m": 0.05790521577000618, "vx_m_s": 0.4092024564743042, "vy_m_s": 0.000725693826097995, "vz_m_s": -0.034748196601867676, "tilt_rad": 0.08730414198325262, "wheel_position_rad": [0.5713789463043213, 0.571894645690918, 0.5754300355911255, 0.5692131519317627], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.060594767043122, "forward_m_s": 0.41067382246979756, "normal_height_m": 0.06342775947242753, "ground_tilt_rad": 0.0002875841155173996}
{"seq": 78, "t_s": 1.264, "x_m": 0.07245559990406036, "y_m": 0.00010952168668154627, "z_m": 0.057352516800165176, "vx_m_s": 0.41054198145866394, "vy_m_s": 0.0009036645060405135, "vz_m_s": -0.03455512970685959, "tilt_rad": 0.08729048378963472, "wheel_position_rad": [0.6386301517486572, 0.6391371488571167, 0.6426851749420166, 0.6364635229110718], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.06718128327131578, "forward_m_s": 0.41199142326854377, "normal_height_m": 0.06344919478440784, "ground_tilt_rad": 0.0002225976447035083}
{"seq": 79, "t_s": 1.28, "x_m": 0.07902791351079941, "y_m": 0.00011603550956351683, "z_m": 0.05679626017808914, "vx_m_s": 0.4108099639415741, "vy_m_s": 0.0007147579453885555, "vz_m_s": -0.03494473919272423, "tilt_rad": 0.08727955554048461, "wheel_position_rad": [0.7058890461921692, 0.706386923789978, 0.7099462151527405, 0.7037158012390137], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.07377706819960081, "forward_m_s": 0.41229234270132237, "normal_height_m": 0.06346786976068315, "ground_tilt_rad": 0.00014475676357171224}
{"seq": 80, "t_s": 1.296, "x_m": 0.08560213446617126, "y_m": 0.00012074984988430515, "z_m": 0.05623374879360199, "vx_m_s": 0.41091272234916687, "vy_m_s": 0.000489276135340333, "vz_m_s": -0.035305097699165344, "tilt_rad": 0.08727682483334713, "wheel_position_rad": [0.7731512784957886, 0.7736365795135498, 0.7772076725959778, 0.7709684371948242], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.08037529835694489, "forward_m_s": 0.41242611739543494, "normal_height_m": 0.06348048001219346, "ground_tilt_rad": 8.917851121640003e-05}
{"seq": 81, "t_s": 1.312, "x_m": 0.092177614569664, "y_m": 0.0001240704150404781, "z_m": 0.055666375905275345, "vx_m_s": 0.4109664261341095, "vy_m_s": 0.00031923892674967647, "vz_m_s": -0.03556517884135246, "tilt_rad": 0.08727136297222884, "wheel_position_rad": [0.8404195308685303, 0.8408782482147217, 0.8444689512252808, 0.8382239937782288], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.08697520657894911, "forward_m_s": 0.4125022843863842, "normal_height_m": 0.06348835700134381, "ground_tilt_rad": 5.377753103409376e-05}
{"seq": 82, "t_s": 1.328, "x_m": 0.09875339269638062, "y_m": 0.00012635524035431445, "z_m": 0.05509577691555023, "vx_m_s": 0.41098088026046753, "vy_m_s": 0.00020969696925021708, "vz_m_s": -0.03572571650147438, "tilt_rad": 0.08726863381659697, "wheel_position_rad": [0.9076892733573914, 0.9081189036369324, 0.9117296934127808, 0.9054805040359497], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.09357569286337242, "forward_m_s": 0.41253067528943455, "normal_height_m": 0.06349304613982094, "ground_tilt_rad": 3.1944152087887095e-05}
{"seq": 83, "t_s": 1.344, "x_m": 0.1053292453289032, "y_m": 0.00012798979878425598, "z_m": 0.054523248225450516, "vx_m_s": 0.41098734736442566, "vy_m_s": 0.00014108548930380493, "vz_m_s": -0.03582054004073143, "tilt_rad": 0.08726863732713487, "wheel_position_rad": [0.9749593138694763, 0.9753596782684326, 0.9789901971817017, 0.9727372527122498], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.10017642155455404, "forward_m_s": 0.41254538220010356, "normal_height_m": 0.06349581941462484, "ground_tilt_rad": 1.881793069120089e-05}
{"seq": 84, "t_s": 1.36, "x_m": 0.11190500855445862, "y_m": 0.00012922805035486817, "z_m": 0.053949613124132156, "vx_m_s": 0.4109835922718048, "vy_m_s": 9.843303996603936e-05, "vz_m_s": -0.03587484359741211, "tilt_rad": 0.08726864043599562, "wheel_position_rad": [1.0422286987304688, 1.0426015853881836, 1.046250581741333, 1.0399937629699707], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.10677715760908056, "forward_m_s": 0.41254637426356017, "normal_height_m": 0.06349748269610819, "ground_tilt_rad": 1.1261344925203553e-05}
{"seq": 85, "t_s": 1.3760000000000001, "x_m": 0.11848068982362747, "y_m": 0.0001302026357734576, "z_m": 0.05337529256939888, "vx_m_s": 0.4109494686126709, "vy_m_s": 6.835416570538655e-05, "vz_m_s": -0.035903964191675186, "tilt_rad": 0.08726864316355891, "wheel_position_rad": [1.1094974279403687, 1.10984468460083, 1.1135108470916748, 1.1072500944137573], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.1133778717602908, "forward_m_s": 0.41251491848227373, "normal_height_m": 0.06349845598956406, "ground_tilt_rad": 6.889624030687129e-06}
{"seq": 86, "t_s": 1.3920000000000001, "x_m": 0.12505629658699036, "y_m": 0.0001310313236899674, "z_m": 0.052800580859184265, "vx_m_s": 0.41098666191101074, "vy_m_s": 5.832569149788469e-05, "vz_m_s": -0.03592903912067413, "tilt_rad": 0.08726864561574176, "wheel_position_rad": [1.1767657995224, 1.177087664604187, 1.1807711124420166, 1.1745063066482544], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.11997854578065865, "forward_m_s": 0.4125541556729456, "normal_height_m": 0.06349903312239444, "ground_tilt_rad": 4.583627217983408e-06}
{"seq": 87, "t_s": 1.408, "x_m": 0.1316317468881607, "y_m": 0.00013171065074857324, "z_m": 0.05222565680742264, "vx_m_s": 0.41093358397483826, "vy_m_s": 4.333890319685452e-05, "vz_m_s": -0.035924699157476425, "tilt_rad": 0.08726864767848376, "wheel_position_rad": [1.2440332174301147, 1.2443331480026245, 1.2480313777923584, 1.2417622804641724], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.1265790824410051, "forward_m_s": 0.412500901461629, "normal_height_m": 0.0634993850851229, "ground_tilt_rad": 3.1112753898866857e-06}
{"seq": 88, "t_s": 1.424, "x_m": 0.13820704817771912, "y_m": 0.00013229488104116172, "z_m": 0.051650650799274445, "vx_m_s": 0.4109799563884735, "vy_m_s": 4.0871102100936696e-05, "vz_m_s": -0.0359465628862381, "tilt_rad": 0.08726864941004754, "wheel_position_rad": [1.3112999200820923, 1.3115782737731934, 1.3152916431427002, 1.3090177774429321], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.13317947779974354, "forward_m_s": 0.4125490029637496, "normal_height_m": 0.06349964241611587, "ground_tilt_rad": 2.374901052613218e-06}
{"seq": 89, "t_s": 1.44, "x_m": 0.14478245377540588, "y_m": 0.00013283611042425036, "z_m": 0.05107550695538521, "vx_m_s": 0.41093042492866516, "vy_m_s": 3.046003075724002e-05, "vz_m_s": -0.035944342613220215, "tilt_rad": 0.08726865121827661, "wheel_position_rad": [1.378567099571228, 1.3788238763809204, 1.3825517892837524, 1.3762736320495605], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.1397799890828628, "forward_m_s": 0.41249946647655583, "normal_height_m": 0.0634997715269268, "ground_tilt_rad": 2.1961399917989163e-06}
{"seq": 90, "t_s": 1.456, "x_m": 0.15135730803012848, "y_m": 0.0001332401589024812, "z_m": 0.050500333309173584, "vx_m_s": 0.4109550416469574, "vy_m_s": 2.3596850951435044e-05, "vz_m_s": -0.03595256805419922, "tilt_rad": 0.08726865147656757, "wheel_position_rad": [1.4458298683166504, 1.4460779428482056, 1.4498130083084106, 1.4435237646102905], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.14637995371848786, "forward_m_s": 0.41252470641522093, "normal_height_m": 0.06349982289611664, "ground_tilt_rad": 2.1897103001888266e-06}
{"seq": 91, "t_s": 1.472, "x_m": 0.15793265402317047, "y_m": 0.00013359911099541932, "z_m": 0.04992508143186569, "vx_m_s": 0.41093289852142334, "vy_m_s": 2.2717160391039215e-05, "vz_m_s": -0.03594963997602463, "tilt_rad": 0.0872686506690394, "wheel_position_rad": [1.5130921602249146, 1.5133352279663086, 1.5170776844024658, 1.5107678174972534], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.15298041503950885, "forward_m_s": 0.4125023923521366, "normal_height_m": 0.0634998391897216, "ground_tilt_rad": 2.190014489993752e-06}
{"seq": 92, "t_s": 1.488, "x_m": 0.1645188331604004, "y_m": 0.00013894664880353957, "z_m": 0.04926401004195213, "vx_m_s": 0.4128584861755371, "vy_m_s": 0.00030177069129422307, "vz_m_s": -0.05022110790014267, "tilt_rad": 0.08726865415213246, "wheel_position_rad": [1.580350637435913, 1.5805675983428955, 1.5843206644058228, 1.578016757965088], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.15959914794469687, "forward_m_s": 0.41566449295090147, "normal_height_m": 0.06341530671060398, "ground_tilt_rad": 7.480620534404091e-05}
{"seq": 93, "t_s": 1.504, "x_m": 0.17111097276210785, "y_m": 0.00013515481259673834, "z_m": 0.04862579330801964, "vx_m_s": 0.41144970059394836, "vy_m_s": 0.00011946928862016648, "vz_m_s": -0.035340726375579834, "tilt_rad": 0.08727138359554895, "wheel_position_rad": [1.6476267576217651, 1.6478238105773926, 1.6515939235687256, 1.6452733278274536], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.16622182671847838, "forward_m_s": 0.4129641575196329, "normal_height_m": 0.06335406140731006, "ground_tilt_rad": 1.2545379557452853e-05}
{"seq": 94, "t_s": 1.52, "x_m": 0.17768897116184235, "y_m": 0.00013485677482094616, "z_m": 0.04808573052287102, "vx_m_s": 0.4109750986099243, "vy_m_s": -1.6641248294035904e-05, "vz_m_s": -0.03327738493680954, "tilt_rad": 0.08727138358894702, "wheel_position_rad": [1.7148940563201904, 1.715079426765442, 1.718859076499939, 1.7125275135040283], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.17282186342151987, "forward_m_s": 0.4123115294838063, "normal_height_m": 0.06338936406043011, "ground_tilt_rad": 2.1414757322782382e-05}
{"seq": 95, "t_s": 1.536, "x_m": 0.18426372110843658, "y_m": 0.00013476634921971709, "z_m": 0.04754970222711563, "vx_m_s": 0.4108947813510895, "vy_m_s": -3.606205791584216e-05, "vz_m_s": -0.03378678113222122, "tilt_rad": 0.08726865091868757, "wheel_position_rad": [1.7821558713912964, 1.782333493232727, 1.7861194610595703, 1.7797805070877075], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.17941831240384634, "forward_m_s": 0.4122759146601537, "normal_height_m": 0.06342840272914699, "ground_tilt_rad": 1.5808860953039115e-05}
{"seq": 96, "t_s": 1.552, "x_m": 0.1908380091190338, "y_m": 0.0001347670768154785, "z_m": 0.04700228199362755, "vx_m_s": 0.41088879108428955, "vy_m_s": -2.225673415523488e-05, "vz_m_s": -0.03452494367957115, "tilt_rad": 0.08726865103194169, "wheel_position_rad": [1.849416732788086, 1.849587321281433, 1.853379249572754, 1.8470335006713867], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.18601529408077616, "forward_m_s": 0.41233428229321023, "normal_height_m": 0.06345605254951864, "ground_tilt_rad": 1.0324354243757969e-05}
{"seq": 97, "t_s": 1.568, "x_m": 0.19741228222846985, "y_m": 0.0001348882942693308, "z_m": 0.04644467681646347, "vx_m_s": 0.41089239716529846, "vy_m_s": -6.259569090616424e-06, "vz_m_s": -0.03507005423307419, "tilt_rad": 0.08726865111574666, "wheel_position_rad": [1.916677474975586, 1.9168410301208496, 1.920639157295227, 1.914286494255066], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.19261314858957918, "forward_m_s": 0.41238538416716236, "normal_height_m": 0.06347355488427812, "ground_tilt_rad": 6.548174521805001e-06}
{"seq": 98, "t_s": 1.584, "x_m": 0.20398661494255066, "y_m": 0.00013510716962628067, "z_m": 0.04588017985224724, "vx_m_s": 0.41089579463005066, "vy_m_s": 5.370249709812924e-06, "vz_m_s": -0.035419873893260956, "tilt_rad": 0.08726865119203366, "wheel_position_rad": [1.983938217163086, 1.9840947389602661, 1.9878990650177002, 1.9815396070480347], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.19921166313503266, "forward_m_s": 0.41241925749584674, "normal_height_m": 0.06348419685220297, "ground_tilt_rad": 4.2965502864839895e-06}
{"seq": 99, "t_s": 1.6, "x_m": 0.21056097745895386, "y_m": 0.00013539157225750387, "z_m": 0.04531139135360718, "vx_m_s": 0.4108980894088745, "vy_m_s": 1.2810847692890093e-05, "vz_m_s": -0.03563372790813446, "tilt_rad": 0.08726865126538068, "wheel_position_rad": [2.051198959350586, 2.0513484477996826, 2.055159091949463, 2.048792839050293], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.20581058140127192, "forward_m_s": 0.4124401821478502, "normal_height_m": 0.06349056621373167, "ground_tilt_rad": 3.099620623642331e-06}
{"seq": 100, "t_s": 1.616, "x_m": 0.21713536977767944, "y_m": 0.00013571664749179035, "z_m": 0.04474000632762909, "vx_m_s": 0.41089963912963867, "vy_m_s": 1.7341248167213053e-05, "vz_m_s": -0.035761985927820206, "tilt_rad": 0.0872686513366769, "wheel_position_rad": [2.118459939956665, 2.1186022758483887, 2.1224193572998047, 2.1160459518432617], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.21240975565869546, "forward_m_s": 0.41245290439442805, "normal_height_m": 0.0634943515259363, "ground_tilt_rad": 2.5437814129222567e-06}
{"seq": 101, "t_s": 1.6320000000000001, "x_m": 0.22370977699756622, "y_m": 0.00013606600987259299, "z_m": 0.04416707530617714, "vx_m_s": 0.41090068221092224, "vy_m_s": 2.0038156435475685e-05, "vz_m_s": -0.035838302224874496, "tilt_rad": 0.08726865140611843, "wheel_position_rad": [2.185720682144165, 2.1858561038970947, 2.1896796226501465, 2.1832993030548096], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.21900907950296059, "forward_m_s": 0.41246059491002596, "normal_height_m": 0.06349659802436838, "ground_tilt_rad": 2.3176455807012076e-06}
{"seq": 102, "t_s": 1.6480000000000001, "x_m": 0.2302841991186142, "y_m": 0.00013642958947457373, "z_m": 0.04359322413802147, "vx_m_s": 0.41090142726898193, "vy_m_s": 2.162280543416273e-05, "vz_m_s": -0.035883575677871704, "tilt_rad": 0.08726865147379194, "wheel_position_rad": [2.252981662750244, 2.2531096935272217, 2.2569398880004883, 2.2505524158477783], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.22560849838775288, "forward_m_s": 0.4124652829743375, "normal_height_m": 0.06349792917625452, "ground_tilt_rad": 2.2337332690526086e-06}
{"seq": 103, "t_s": 1.6640000000000001, "x_m": 0.23685862123966217, "y_m": 0.00013680130359716713, "z_m": 0.043018825352191925, "vx_m_s": 0.4109019935131073, "vy_m_s": 2.254341234220192e-05, "vz_m_s": -0.03591039404273033, "tilt_rad": 0.08726865153978147, "wheel_position_rad": [2.3202426433563232, 2.3203635215759277, 2.32420015335083, 2.317805767059326], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.23220796500057028, "forward_m_s": 0.41246818443824157, "normal_height_m": 0.06349871479431736, "ground_tilt_rad": 2.2040122100267222e-06}
{"seq": 104, "t_s": 1.68, "x_m": 0.24343305826187134, "y_m": 0.00013717752881348133, "z_m": 0.04244410619139671, "vx_m_s": 0.4109024405479431, "vy_m_s": 2.3070417228154838e-05, "vz_m_s": -0.035926274955272675, "tilt_rad": 0.08726865160420422, "wheel_position_rad": [2.3875036239624023, 2.3876171112060547, 2.391460657119751, 2.385058879852295], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.23880747438036357, "forward_m_s": 0.41247001388470295, "normal_height_m": 0.06349918255525978, "ground_tilt_rad": 2.1938639101723945e-06}
{"seq": 105, "t_s": 1.696, "x_m": 0.2500075101852417, "y_m": 0.00013755612599197775, "z_m": 0.04186919331550598, "vx_m_s": 0.41090279817581177, "vy_m_s": 2.3365000743069686e-05, "vz_m_s": -0.03593568503856659, "tilt_rad": 0.0872686516671863, "wheel_position_rad": [2.4547646045684814, 2.4548707008361816, 2.4587209224700928, 2.4523122310638428], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.24540701548799762, "forward_m_s": 0.4124711902944885, "normal_height_m": 0.06349945863697287, "ground_tilt_rad": 2.1904706954960434e-06}
{"seq": 106, "t_s": 1.712, "x_m": 0.25658196210861206, "y_m": 0.00013793585821986198, "z_m": 0.041294168680906296, "vx_m_s": 0.41090306639671326, "vy_m_s": 2.3522698029410094e-05, "vz_m_s": -0.03594126179814339, "tilt_rad": 0.08726865172887036, "wheel_position_rad": [2.5220255851745605, 2.5221245288848877, 2.5259814262390137, 2.5195653438568115], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.252006566336045, "forward_m_s": 0.4124719435413514, "normal_height_m": 0.06349962338525263, "ground_tilt_rad": 2.189456776401036e-06}
{"seq": 107, "t_s": 1.728, "x_m": 0.2631564140319824, "y_m": 0.0001383159979013726, "z_m": 0.04071907699108124, "vx_m_s": 0.41090333461761475, "vy_m_s": 2.3600001441081986e-05, "vz_m_s": -0.03594456613063812, "tilt_rad": 0.08726865178940417, "wheel_position_rad": [2.5892865657806396, 2.5893781185150146, 2.5932416915893555, 2.5868186950683594], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.25860612302834035, "forward_m_s": 0.4124724987331443, "normal_height_m": 0.0634997213334724, "ground_tilt_rad": 2.189203223253563e-06}
{"seq": 108, "t_s": 1.744, "x_m": 0.2697310447692871, "y_m": 0.00013868948735762388, "z_m": 0.040143925696611404, "vx_m_s": 0.4109656810760498, "vy_m_s": 2.180634874093812e-05, "vz_m_s": -0.03595270216464996, "tilt_rad": 0.08726865175999453, "wheel_position_rad": [2.656548023223877, 2.656630516052246, 2.6605029106140137, 2.6540708541870117], "contacts": 6, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.2652058630490161, "forward_m_s": 0.4125353170465694, "normal_height_m": 0.06349977548852231, "ground_tilt_rad": 2.189152509100009e-06}
{"seq": 109, "t_s": 1.76, "x_m": 0.2763073742389679, "y_m": 0.00013901556667406112, "z_m": 0.03956859931349754, "vx_m_s": 0.4110192358493805, "vy_m_s": 2.0464765839278698e-05, "vz_m_s": -0.03595815971493721, "tilt_rad": 0.08726865116780204, "wheel_position_rad": [2.723814010620117, 2.723877191543579, 2.7277705669403076, 2.7213175296783447], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.27180731059785923, "forward_m_s": 0.4125891436846678, "normal_height_m": 0.06349980327547533, "ground_tilt_rad": 2.189253936232322e-06}
{"seq": 110, "t_s": 1.776, "x_m": 0.2828829288482666, "y_m": 0.00013933988520875573, "z_m": 0.03899332880973816, "vx_m_s": 0.4109341502189636, "vy_m_s": 2.2512138457386754e-05, "vz_m_s": -0.035950981080532074, "tilt_rad": 0.08726591728728562, "wheel_position_rad": [2.791076421737671, 2.7911314964294434, 2.7950363159179688, 2.788564920425415], "contacts": 8, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.2784079813646913, "forward_m_s": 0.4125037561715493, "normal_height_m": 0.06349981919561287, "ground_tilt_rad": 5.454720621622608e-07}
{"seq": 111, "t_s": 1.792, "x_m": 0.289458304643631, "y_m": 0.00013973013847135007, "z_m": 0.03841806948184967, "vx_m_s": 0.4110020399093628, "vy_m_s": 2.4856522941263393e-05, "vz_m_s": -0.03595813363790512, "tilt_rad": 0.08726591733187915, "wheel_position_rad": [2.858340263366699, 2.8583791255950928, 2.8622994422912598, 2.8558175563812256], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.28500847302398874, "forward_m_s": 0.4125720109076304, "normal_height_m": 0.06349983066443252, "ground_tilt_rad": 5.452684898237054e-07}
{"seq": 112, "t_s": 1.808, "x_m": 0.2960340082645416, "y_m": 0.00014016930072102696, "z_m": 0.037842780351638794, "vx_m_s": 0.41098350286483765, "vy_m_s": 2.7818401576951146e-05, "vz_m_s": -0.03595595061779022, "tilt_rad": 0.08726591813099077, "wheel_position_rad": [2.9256062507629395, 2.9256231784820557, 2.929562568664551, 2.9230728149414062], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.29160929385880074, "forward_m_s": 0.4125533541394166, "normal_height_m": 0.06349984101621556, "ground_tilt_rad": 5.452684898237054e-07}
{"seq": 113, "t_s": 1.824, "x_m": 0.30260971188545227, "y_m": 0.00014061549154575914, "z_m": 0.03726748004555702, "vx_m_s": 0.4109494388103485, "vy_m_s": 2.6131929189432412e-05, "vz_m_s": -0.03595319762825966, "tilt_rad": 0.08726591915366108, "wheel_position_rad": [2.992872714996338, 2.9928674697875977, 2.9968252182006836, 2.990328073501587], "contacts": 7, "stop_requested": false, "brake_applied": false, "wheel_command_rad_s": 4.199999999999999, "along_m": 0.2982101156676542, "forward_m_s": 0.4125191797700917, "normal_height_m": 0.06349984023465527, "ground_tilt_rad": 5.436371668265737e-07}
{"seq": 114, "t_s": 1.84, "x_m": 0.30918532609939575, "y_m": 0.00014098736573942006, "z_m": 0.036692194640636444, "vx_m_s": 0.4109877645969391, "vy_m_s": 2.4782340915407985e-05, "vz_m_s": -0.03595669940114021, "tilt_rad": 0.0872659191255957, "wheel_position_rad": [3.0601370334625244, 3.0601160526275635, 3.06408953666687, 3.0575788021087646], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3048108471110391, "forward_m_s": 0.41255766491510976, "normal_height_m": 0.06349984650522213, "ground_tilt_rad": 5.466919043017737e-07}
{"seq": 115, "t_s": 1.856, "x_m": 0.3157463073730469, "y_m": 0.00014138771803118289, "z_m": 0.036016400903463364, "vx_m_s": 0.4090158939361572, "vy_m_s": 2.4791133910184726e-05, "vz_m_s": -0.034682199358940125, "tilt_rad": 0.08724952038652875, "wheel_position_rad": [3.1245663166046143, 3.1244685649871826, 3.1285154819488525, 3.121943950653076], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.31140576117523716, "forward_m_s": 0.41048221781970634, "normal_height_m": 0.06339845156330523, "ground_tilt_rad": 1.6942213996573423e-05}
{"seq": 116, "t_s": 1.872, "x_m": 0.3222748339176178, "y_m": 0.0001417898602085188, "z_m": 0.03554056957364082, "vx_m_s": 0.4069807231426239, "vy_m_s": 2.479793874954339e-05, "vz_m_s": -0.02749096043407917, "tilt_rad": 0.08721397856010782, "wheel_position_rad": [3.18399715423584, 3.1837189197540283, 3.18794322013855, 3.1812002658843994], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3179509161382632, "forward_m_s": 0.40782803369570514, "normal_height_m": 0.06349342949538996, "ground_tilt_rad": 5.2484068588994254e-05}
{"seq": 117, "t_s": 1.8880000000000001, "x_m": 0.3287670314311981, "y_m": 0.00014218704018276185, "z_m": 0.03496103733778, "vx_m_s": 0.40529048442840576, "vy_m_s": 2.480260081938468e-05, "vz_m_s": -0.04878643900156021, "tilt_rad": 0.08726318775440309, "wheel_position_rad": [3.2383906841278076, 3.2378413677215576, 3.2423322200775146, 3.2353241443634033], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.324468918442719, "forward_m_s": 0.4080002501018073, "normal_height_m": 0.06348193485101274, "ground_tilt_rad": 3.2786618327665704e-06}
{"seq": 118, "t_s": 1.9040000000000001, "x_m": 0.33523479104042053, "y_m": 0.00014258337614592165, "z_m": 0.03440123423933983, "vx_m_s": 0.40331950783729553, "vy_m_s": 2.4814155040076002e-05, "vz_m_s": -0.04599277675151825, "tilt_rad": 0.08722491727603228, "wheel_position_rad": [3.287766933441162, 3.286843776702881, 3.2917017936706543, 3.2843241691589355], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.33096085632879535, "forward_m_s": 0.40579328996329184, "normal_height_m": 0.06348796436502639, "ground_tilt_rad": 4.154625458647295e-05}
{"seq": 119, "t_s": 1.92, "x_m": 0.34166955947875977, "y_m": 0.00014297741290647537, "z_m": 0.033823926001787186, "vx_m_s": 0.4012480676174164, "vy_m_s": 2.4827400920912623e-05, "vz_m_s": -0.03561844304203987, "tilt_rad": 0.08721124550988653, "wheel_position_rad": [3.332118511199951, 3.3307247161865234, 3.3360445499420166, 3.3281986713409424], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3374214542587552, "forward_m_s": 0.4028255494388726, "normal_height_m": 0.0634736799822644, "ground_tilt_rad": 5.521873544408739e-05}
{"seq": 120, "t_s": 1.936, "x_m": 0.34807223081588745, "y_m": 0.00014336779713630676, "z_m": 0.033278580754995346, "vx_m_s": 0.39941346645355225, "vy_m_s": 2.4856810341589153e-05, "vz_m_s": -0.04014454409480095, "tilt_rad": 0.08720304162004724, "wheel_position_rad": [3.3714518547058105, 3.3694875240325928, 3.3753662109375, 3.366952419281006], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3438472914684638, "forward_m_s": 0.4013924051853225, "normal_height_m": 0.06348843951473734, "ground_tilt_rad": 6.342401424787242e-05}
{"seq": 121, "t_s": 1.952, "x_m": 0.35445013642311096, "y_m": 0.0001437572209397331, "z_m": 0.03270658850669861, "vx_m_s": 0.3975302577018738, "vy_m_s": 2.4886356186470948e-05, "vz_m_s": -0.03686923533678055, "tilt_rad": 0.08712095566912179, "wheel_position_rad": [3.4057629108428955, 3.4031262397766113, 3.4096620082855225, 3.400578737258911], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3502507796285557, "forward_m_s": 0.39923090064396727, "normal_height_m": 0.06347449497000657, "ground_tilt_rad": 0.0001455093157753872}
{"seq": 122, "t_s": 1.968, "x_m": 0.36078161001205444, "y_m": 0.0001441532076569274, "z_m": 0.03218840807676315, "vx_m_s": 0.39557355642318726, "vy_m_s": 2.4765544367255643e-05, "vz_m_s": -0.03402891382575035, "tilt_rad": 0.08722491929305026, "wheel_position_rad": [3.435054302215576, 3.431649923324585, 3.438934326171875, 3.429089307785034], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.35660332244921744, "forward_m_s": 0.3970340948734544, "normal_height_m": 0.06351011065638153, "ground_tilt_rad": 4.15540728771347e-05}
{"seq": 123, "t_s": 1.984, "x_m": 0.36710330843925476, "y_m": 0.0001445605157641694, "z_m": 0.03162221610546112, "vx_m_s": 0.39332666993141174, "vy_m_s": 2.4797695004963316e-05, "vz_m_s": -0.035992272198200226, "tilt_rad": 0.08706071075323443, "wheel_position_rad": [3.4593262672424316, 3.455043077468872, 3.4631826877593994, 3.4524707794189453], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3629503117871259, "forward_m_s": 0.3949668764203644, "normal_height_m": 0.06349704553831767, "ground_tilt_rad": 0.00020575398930274433}
{"seq": 124, "t_s": 2.0, "x_m": 0.3733833134174347, "y_m": 0.00014494830975309014, "z_m": 0.031065450981259346, "vx_m_s": 0.3913070857524872, "vy_m_s": 2.483384741935879e-05, "vz_m_s": -0.025180520489811897, "tilt_rad": 0.08703057265320588, "wheel_position_rad": [3.4785733222961426, 3.473318338394165, 3.4824042320251465, 3.4707303047180176], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3692549447283143, "forward_m_s": 0.392012671118422, "normal_height_m": 0.06348973757183773, "ground_tilt_rad": 0.00023589283506171113}
{"seq": 125, "t_s": 2.016, "x_m": 0.3796360194683075, "y_m": 0.00014533300418406725, "z_m": 0.030526818707585335, "vx_m_s": 0.38956913352012634, "vy_m_s": 2.4878168915165588e-05, "vz_m_s": -0.029445597901940346, "tilt_rad": 0.08695106683568994, "wheel_position_rad": [3.492802619934082, 3.486473798751831, 3.496605157852173, 3.4838664531707764], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.37553080224079993, "forward_m_s": 0.39065305830873764, "normal_height_m": 0.06349811419662918, "ground_tilt_rad": 0.00031539905240384294}
{"seq": 126, "t_s": 2.032, "x_m": 0.385840505361557, "y_m": 0.00014571483188774437, "z_m": 0.03000008501112461, "vx_m_s": 0.38717523217201233, "vy_m_s": 2.4802531697787344e-05, "vz_m_s": -0.01661285199224949, "tilt_rad": 0.08708536323006272, "wheel_position_rad": [3.5020058155059814, 3.4945120811462402, 3.50577712059021, 3.491882801055908], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.38175758605858534, "forward_m_s": 0.3871498189767407, "normal_height_m": 0.06351414145730228, "ground_tilt_rad": 0.00018110762161507624}
{"seq": 127, "t_s": 2.048, "x_m": 0.39199399948120117, "y_m": 0.0001461014326196164, "z_m": 0.0294590275734663, "vx_m_s": 0.38544633984565735, "vy_m_s": 2.4765031412243843e-05, "vz_m_s": -0.013892892748117447, "tilt_rad": 0.08747611047946689, "wheel_position_rad": [3.5061779022216797, 3.4974324703216553, 3.5099165439605713, 3.4947781562805176], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.38793482053816186, "forward_m_s": 0.3851904455394887, "normal_height_m": 0.06351145525703489, "ground_tilt_rad": 0.00020965678123336894}
{"seq": 128, "t_s": 2.064, "x_m": 0.3981519639492035, "y_m": 0.00014653198013547808, "z_m": 0.02887873351573944, "vx_m_s": 0.3836006224155426, "vy_m_s": 2.462862539687194e-05, "vz_m_s": -0.01874779351055622, "tilt_rad": 0.08741883786461732, "wheel_position_rad": [3.5065858364105225, 3.497563600540161, 3.510312080383301, 3.4949066638946533], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.3941199280518364, "forward_m_s": 0.3837748841033494, "normal_height_m": 0.06347007136041567, "ground_tilt_rad": 0.00015238390027537716}
{"seq": 129, "t_s": 2.08, "x_m": 0.40427470207214355, "y_m": 0.00014698466111440212, "z_m": 0.028307011350989342, "vx_m_s": 0.38177332282066345, "vy_m_s": 2.4664892407599837e-05, "vz_m_s": -0.02551158145070076, "tilt_rad": 0.08741065336986704, "wheel_position_rad": [3.5066606998443604, 3.497615337371826, 3.510385513305664, 3.494957685470581], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4002691961776276, "forward_m_s": 0.38254404089681654, "normal_height_m": 0.06343415655986433, "ground_tilt_rad": 0.0001441944309202762}
{"seq": 130, "t_s": 2.096, "x_m": 0.4104013741016388, "y_m": 0.0001474319869885221, "z_m": 0.027812281623482704, "vx_m_s": 0.3795919418334961, "vy_m_s": 2.465165380272083e-05, "vz_m_s": -0.024971969425678253, "tilt_rad": 0.08694284009916178, "wheel_position_rad": [3.5067451000213623, 3.497666120529175, 3.5104687213897705, 3.4950077533721924], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4064156729072179, "forward_m_s": 0.38032393043604584, "normal_height_m": 0.0634752840796358, "ground_tilt_rad": 0.0003236229533150003}
{"seq": 131, "t_s": 2.112, "x_m": 0.41646048426628113, "y_m": 0.00014785748498979956, "z_m": 0.027236048132181168, "vx_m_s": 0.3780161440372467, "vy_m_s": 2.4709253921173513e-05, "vz_m_s": -0.05208069458603859, "tilt_rad": 0.08695381225431731, "wheel_position_rad": [3.5068178176879883, 3.497713088989258, 3.51054048538208, 3.495054244995117], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4125019483863189, "forward_m_s": 0.3811168101024509, "normal_height_m": 0.06342932957752762, "ground_tilt_rad": 0.0003126504782067916}
{"seq": 132, "t_s": 2.128, "x_m": 0.4224502742290497, "y_m": 0.00014826696133241057, "z_m": 0.02679396979510784, "vx_m_s": 0.3757709562778473, "vy_m_s": 2.472834057698492e-05, "vz_m_s": -0.030328162014484406, "tilt_rad": 0.08743247938594827, "wheel_position_rad": [3.5068953037261963, 3.497777223587036, 3.5106170177459717, 3.495117425918579], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4185074750557323, "forward_m_s": 0.3769843078274003, "normal_height_m": 0.0635109780751015, "ground_tilt_rad": 0.0001660169039256499}
{"seq": 133, "t_s": 2.144, "x_m": 0.4284716546535492, "y_m": 0.00014868317521177232, "z_m": 0.026267409324645996, "vx_m_s": 0.373734712600708, "vy_m_s": 2.4765309717622586e-05, "vz_m_s": -0.012353257276117802, "tilt_rad": 0.08711822345662462, "wheel_position_rad": [3.5069806575775146, 3.497833490371704, 3.5107014179229736, 3.4951729774475098], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4245518350787168, "forward_m_s": 0.37338919649892055, "normal_height_m": 0.06351121920946619, "ground_tilt_rad": 0.00014823917078932915}
{"seq": 134, "t_s": 2.16, "x_m": 0.43441489338874817, "y_m": 0.00014908895536791533, "z_m": 0.02569281868636608, "vx_m_s": 0.37176623940467834, "vy_m_s": 2.4751134333200753e-05, "vz_m_s": -0.017400234937667847, "tilt_rad": 0.08741611210991113, "wheel_position_rad": [3.507056951522827, 3.4978837966918945, 3.5107765197753906, 3.495222806930542], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4305225368700707, "forward_m_s": 0.3718680870244233, "normal_height_m": 0.0634568024483315, "ground_tilt_rad": 0.00014964952285358182}
{"seq": 135, "t_s": 2.176, "x_m": 0.4403556287288666, "y_m": 0.0001494985626777634, "z_m": 0.02518644742667675, "vx_m_s": 0.369702011346817, "vy_m_s": 2.4684894015081227e-05, "vz_m_s": -0.03407694771885872, "tilt_rad": 0.08733695695485875, "wheel_position_rad": [3.5071308612823486, 3.4979329109191895, 3.5108492374420166, 3.4952712059020996], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4364847990819071, "forward_m_s": 0.3712651852665637, "normal_height_m": 0.06347012728519823, "ground_tilt_rad": 7.04943572606637e-05}
{"seq": 136, "t_s": 2.192, "x_m": 0.4462326765060425, "y_m": 0.00014989958435762674, "z_m": 0.02465463988482952, "vx_m_s": 0.36806413531303406, "vy_m_s": 2.4785720597719774e-05, "vz_m_s": -0.02762993983924389, "tilt_rad": 0.08767763548560487, "wheel_position_rad": [3.507204532623291, 3.4979898929595947, 3.5109217166900635, 3.4953277111053467], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4423858329992702, "forward_m_s": 0.3690716480853297, "normal_height_m": 0.06345256189578806, "ground_tilt_rad": 0.00041117288832102526}
{"seq": 137, "t_s": 2.208, "x_m": 0.4521426558494568, "y_m": 0.00015031322254799306, "z_m": 0.024191303178668022, "vx_m_s": 0.3658917546272278, "vy_m_s": 2.4739003492868505e-05, "vz_m_s": -0.023617619648575783, "tilt_rad": 0.08718663785688908, "wheel_position_rad": [3.5072896480560303, 3.498042345046997, 3.5110056400299072, 3.4953794479370117], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.448313705541779, "forward_m_s": 0.36655783721753354, "normal_height_m": 0.06350607696497727, "ground_tilt_rad": 7.982474306886683e-05}
{"seq": 138, "t_s": 2.224, "x_m": 0.4579940736293793, "y_m": 0.00015072087990120053, "z_m": 0.023683901876211166, "vx_m_s": 0.3640991449356079, "vy_m_s": 2.4758703148108907e-05, "vz_m_s": -0.02974494732916355, "tilt_rad": 0.08705249840432472, "wheel_position_rad": [3.507369041442871, 3.4980947971343994, 3.5110840797424316, 3.4954311847686768], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.45418707984784434, "forward_m_s": 0.36530608074205384, "normal_height_m": 0.0635105911404009, "ground_tilt_rad": 0.00021396419711213697}
{"seq": 139, "t_s": 2.24, "x_m": 0.46379220485687256, "y_m": 0.00015112361870706081, "z_m": 0.023170679807662964, "vx_m_s": 0.36220914125442505, "vy_m_s": 2.4774888515821658e-05, "vz_m_s": -0.029220908880233765, "tilt_rad": 0.08720304967540145, "wheel_position_rad": [3.5074455738067627, 3.4981491565704346, 3.5111591815948486, 3.4954850673675537], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46000787768609214, "forward_m_s": 0.3633775961352408, "normal_height_m": 0.06350466247045007, "ground_tilt_rad": 6.341292400403233e-05}
{"seq": 140, "t_s": 2.2560000000000002, "x_m": 0.46955224871635437, "y_m": 0.00015152480045799166, "z_m": 0.022657601162791252, "vx_m_s": 0.36028042435646057, "vy_m_s": 2.478601163602434e-05, "vz_m_s": -0.02886142022907734, "tilt_rad": 0.08744339269347794, "wheel_position_rad": [3.5075156688690186, 3.4982054233551025, 3.511228322982788, 3.4955408573150635], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.46579072059006554, "forward_m_s": 0.36142488708696774, "normal_height_m": 0.06349555714555699, "ground_tilt_rad": 0.0001769300971189274}
{"seq": 141, "t_s": 2.2720000000000002, "x_m": 0.47531700134277344, "y_m": 0.00015193373837973922, "z_m": 0.022173680365085602, "vx_m_s": 0.35798728466033936, "vy_m_s": 2.4707904231036082e-05, "vz_m_s": -0.023509252816438675, "tilt_rad": 0.08722219274672692, "wheel_position_rad": [3.507601261138916, 3.4982573986053467, 3.51131272315979, 3.4955921173095703], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4715757130688698, "forward_m_s": 0.35867400135354977, "normal_height_m": 0.06351590910949836, "ground_tilt_rad": 4.426985274734944e-05}
{"seq": 142, "t_s": 2.2880000000000003, "x_m": 0.481031596660614, "y_m": 0.00015233966405503452, "z_m": 0.021658413112163544, "vx_m_s": 0.35615986585617065, "vy_m_s": 2.4704708266654052e-05, "vz_m_s": -0.0349181704223156, "tilt_rad": 0.08724679855742784, "wheel_position_rad": [3.507675886154175, 3.4983088970184326, 3.5113866329193115, 3.49564266204834], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.47731347112638445, "forward_m_s": 0.35784788911753074, "normal_height_m": 0.0635006624034658, "ground_tilt_rad": 1.9664040028265865e-05}
{"seq": 143, "t_s": 2.3040000000000003, "x_m": 0.48670923709869385, "y_m": 0.00015274345059879124, "z_m": 0.021113086491823196, "vx_m_s": 0.3545517921447754, "vy_m_s": 2.4813436539261602e-05, "vz_m_s": -0.02781345322728157, "tilt_rad": 0.08735061234050562, "wheel_position_rad": [3.5077476501464844, 3.4983644485473633, 3.5114574432373047, 3.4956977367401123], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4830170347751067, "forward_m_s": 0.35562671770795284, "normal_height_m": 0.06345224988498945, "ground_tilt_rad": 8.414974009855378e-05}
{"seq": 144, "t_s": 2.32, "x_m": 0.4923992156982422, "y_m": 0.00015315660857595503, "z_m": 0.020596886053681374, "vx_m_s": 0.3523483872413635, "vy_m_s": 2.4752724129939452e-05, "vz_m_s": -0.02554871328175068, "tilt_rad": 0.08689345518676443, "wheel_position_rad": [3.50783109664917, 3.498415470123291, 3.5115396976470947, 3.4957478046417236], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4887303511208252, "forward_m_s": 0.3532343123333415, "normal_height_m": 0.06343392805642184, "ground_tilt_rad": 0.0003730074151174203}
{"seq": 145, "t_s": 2.336, "x_m": 0.4980017840862274, "y_m": 0.000153559391037561, "z_m": 0.02016918733716011, "vx_m_s": 0.3504769206047058, "vy_m_s": 2.4753449906711467e-05, "vz_m_s": -0.03286613151431084, "tilt_rad": 0.08714286241999553, "wheel_position_rad": [3.507910966873169, 3.4984688758850098, 3.5116186141967773, 3.495800733566284], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4943488764439431, "forward_m_s": 0.35200772221330157, "normal_height_m": 0.06349615287179211, "ground_tilt_rad": 0.00012360018209461876}
{"seq": 146, "t_s": 2.352, "x_m": 0.5035802721977234, "y_m": 0.00015396226081065834, "z_m": 0.019679009914398193, "vx_m_s": 0.3489129841327667, "vy_m_s": 2.4849805413396098e-05, "vz_m_s": -0.03150295093655586, "tilt_rad": 0.08730964897703322, "wheel_position_rad": [3.5079822540283203, 3.498526096343994, 3.5116889476776123, 3.495857000350952], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.4999488585013422, "forward_m_s": 0.3503309279760501, "normal_height_m": 0.06349403799687883, "ground_tilt_rad": 4.3186377658568016e-05}
{"seq": 147, "t_s": 2.368, "x_m": 0.5091310143470764, "y_m": 0.00015436629473697394, "z_m": 0.019185736775398254, "vx_m_s": 0.3471698760986328, "vy_m_s": 2.4851029593264684e-05, "vz_m_s": -0.04635518789291382, "tilt_rad": 0.08743521222486214, "wheel_position_rad": [3.508054494857788, 3.498579263687134, 3.5117602348327637, 3.4959096908569336], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.505521469987809, "forward_m_s": 0.3498889107376404, "normal_height_m": 0.0634864209659236, "ground_tilt_rad": 0.00016874962501758952}
{"seq": 148, "t_s": 2.384, "x_m": 0.5146807432174683, "y_m": 0.0001547758438391611, "z_m": 0.018652193248271942, "vx_m_s": 0.3448233902454376, "vy_m_s": 2.477107773302123e-05, "vz_m_s": -0.04109051823616028, "tilt_rad": 0.08718117027842207, "wheel_position_rad": [3.5081355571746826, 3.4986279010772705, 3.5118398666381836, 3.495957851409912], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.511096581846735, "forward_m_s": 0.3470925077772846, "normal_height_m": 0.06343859847474634, "ground_tilt_rad": 8.529232415723539e-05}
{"seq": 149, "t_s": 2.4, "x_m": 0.5201768279075623, "y_m": 0.00015518220607191324, "z_m": 0.018204785883426666, "vx_m_s": 0.3424300253391266, "vy_m_s": 2.467431841068901e-05, "vz_m_s": -0.03890435770153999, "tilt_rad": 0.0872003177431771, "wheel_position_rad": [3.5082180500030518, 3.49868106842041, 3.5119214057922363, 3.4960100650787354], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5166107463964638, "forward_m_s": 0.34451771390185826, "normal_height_m": 0.06347190897336945, "ground_tilt_rad": 6.614486646981648e-05}
{"seq": 150, "t_s": 2.416, "x_m": 0.5256436467170715, "y_m": 0.0001555869821459055, "z_m": 0.017751943320035934, "vx_m_s": 0.3409656286239624, "vy_m_s": 2.4810302420519292e-05, "vz_m_s": -0.03368968516588211, "tilt_rad": 0.08719758294475237, "wheel_position_rad": [3.5082948207855225, 3.498739004135132, 3.5119969844818115, 3.4960672855377197], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5220962301398852, "forward_m_s": 0.34260440100027767, "normal_height_m": 0.06349725426645897, "ground_tilt_rad": 6.887965980885572e-05}
{"seq": 151, "t_s": 2.432, "x_m": 0.531072199344635, "y_m": 0.00015599049220327288, "z_m": 0.017273252829909325, "vx_m_s": 0.339191734790802, "vy_m_s": 2.4813385607558303e-05, "vz_m_s": -0.043777946382761, "tilt_rad": 0.08729052708080677, "wheel_position_rad": [3.5083696842193604, 3.4987921714782715, 3.512070894241333, 3.496119976043701], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5275458461109891, "forward_m_s": 0.3417165072680951, "normal_height_m": 0.06349351487446794, "ground_tilt_rad": 2.4064484933191186e-05}
{"seq": 152, "t_s": 2.448, "x_m": 0.5364749431610107, "y_m": 0.0001563956611789763, "z_m": 0.016770759597420692, "vx_m_s": 0.33703118562698364, "vy_m_s": 2.481801675457973e-05, "vz_m_s": -0.02581886015832424, "tilt_rad": 0.0873178449441045, "wheel_position_rad": [3.5084469318389893, 3.498847484588623, 3.5121469497680664, 3.4961748123168945], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5329718260269138, "forward_m_s": 0.3379989421471727, "normal_height_m": 0.06346381393062733, "ground_tilt_rad": 5.1382343408436125e-05}
{"seq": 153, "t_s": 2.464, "x_m": 0.5418798327445984, "y_m": 0.00015680755313951522, "z_m": 0.016268566250801086, "vx_m_s": 0.3348330557346344, "vy_m_s": 2.4756682250881568e-05, "vz_m_s": -0.0252772755920887, "tilt_rad": 0.0869208999105622, "wheel_position_rad": [3.5085296630859375, 3.4988975524902344, 3.5122287273406982, 3.4962239265441895], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5383999174079827, "forward_m_s": 0.33576197459756646, "normal_height_m": 0.0634345987474346, "ground_tilt_rad": 0.0003455626928101358}
{"seq": 154, "t_s": 2.48, "x_m": 0.5472063422203064, "y_m": 0.00015721083036623895, "z_m": 0.015853121876716614, "vx_m_s": 0.3330129384994507, "vy_m_s": 2.4767403374426067e-05, "vz_m_s": -0.03399192541837692, "tilt_rad": 0.08711275456841186, "wheel_position_rad": [3.508608341217041, 3.498950958251953, 3.5123062133789062, 3.496276617050171], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5437423662700122, "forward_m_s": 0.33470831523636696, "normal_height_m": 0.06348497115422737, "ground_tilt_rad": 0.00015370803480583648}
{"seq": 155, "t_s": 2.496, "x_m": 0.5524929761886597, "y_m": 0.0001576112408656627, "z_m": 0.015380957163870335, "vx_m_s": 0.33134204149246216, "vy_m_s": 2.484945252945181e-05, "vz_m_s": -0.02817717380821705, "tilt_rad": 0.08742430283558697, "wheel_position_rad": [3.508678674697876, 3.499009132385254, 3.512375831604004, 3.4963343143463135], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5490500348662848, "forward_m_s": 0.332536987501471, "normal_height_m": 0.06347536368081073, "ground_tilt_rad": 0.00015784023622486513}
{"seq": 156, "t_s": 2.512, "x_m": 0.5578008890151978, "y_m": 0.00015802109555806965, "z_m": 0.014879630878567696, "vx_m_s": 0.329054594039917, "vy_m_s": 2.478649912518449e-05, "vz_m_s": -0.020701417699456215, "tilt_rad": 0.08707167889353812, "wheel_position_rad": [3.5087621212005615, 3.4990615844726562, 3.512458086013794, 3.4963858127593994], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5543814429467696, "forward_m_s": 0.3296066894008226, "normal_height_m": 0.06343856017821496, "ground_tilt_rad": 0.00019478370750046313}
{"seq": 157, "t_s": 2.528, "x_m": 0.563041090965271, "y_m": 0.0001584263809490949, "z_m": 0.014488277025520802, "vx_m_s": 0.3267621099948883, "vy_m_s": 2.4692069928278215e-05, "vz_m_s": -0.024246467277407646, "tilt_rad": 0.08716749323599461, "wheel_position_rad": [3.5088446140289307, 3.4991133213043213, 3.5125393867492676, 3.496436834335327], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5596358130821021, "forward_m_s": 0.3276319003787488, "normal_height_m": 0.06350540923783823, "ground_tilt_rad": 9.896936553943621e-05}
{"seq": 158, "t_s": 2.544, "x_m": 0.568260669708252, "y_m": 0.0001588316517882049, "z_m": 0.013973609544336796, "vx_m_s": 0.32558396458625793, "vy_m_s": 2.481686715327669e-05, "vz_m_s": -0.045715946704149246, "tilt_rad": 0.08715107562305328, "wheel_position_rad": [3.5089123249053955, 3.4991636276245117, 3.512606143951416, 3.4964869022369385], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5648803859787228, "forward_m_s": 0.3283294265949333, "normal_height_m": 0.06344761648397688, "ground_tilt_rad": 0.0001153869789208076}
{"seq": 159, "t_s": 2.56, "x_m": 0.573430061340332, "y_m": 0.00015923527826089412, "z_m": 0.013526422902941704, "vx_m_s": 0.3234488368034363, "vy_m_s": 2.4786628273432143e-05, "vz_m_s": -0.03849223256111145, "tilt_rad": 0.08736426677535788, "wheel_position_rad": [3.508988857269287, 3.4992191791534424, 3.512681722640991, 3.4965415000915527], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5700690813988384, "forward_m_s": 0.32557283544640475, "normal_height_m": 0.0634526736900091, "ground_tilt_rad": 9.780417536485723e-05}
{"seq": 160, "t_s": 2.576, "x_m": 0.578602135181427, "y_m": 0.00015964482736308128, "z_m": 0.013086045160889626, "vx_m_s": 0.3214636445045471, "vy_m_s": 2.481496449036058e-05, "vz_m_s": -0.026735877618193626, "tilt_rad": 0.08714560269348755, "wheel_position_rad": [3.5090699195861816, 3.4992756843566895, 3.5127618312835693, 3.4965970516204834], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5752598553866743, "forward_m_s": 0.3225705635565037, "normal_height_m": 0.06346474765538557, "ground_tilt_rad": 0.0001208599133027835}
{"seq": 161, "t_s": 2.592, "x_m": 0.5837113261222839, "y_m": 0.0001600481482455507, "z_m": 0.012684840708971024, "vx_m_s": 0.3193643391132355, "vy_m_s": 2.4801553081488237e-05, "vz_m_s": -0.019230667501688004, "tilt_rad": 0.08732604037484325, "wheel_position_rad": [3.5091500282287598, 3.499331474304199, 3.512840986251831, 3.496652364730835], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.580384571585495, "forward_m_s": 0.31982512449382233, "normal_height_m": 0.06351036523882345, "ground_tilt_rad": 5.957777938667571e-05}
{"seq": 162, "t_s": 2.608, "x_m": 0.588805615901947, "y_m": 0.00016045344818849117, "z_m": 0.012223314493894577, "vx_m_s": 0.3176691234111786, "vy_m_s": 2.481016781530343e-05, "vz_m_s": -0.03573387861251831, "tilt_rad": 0.08730965252357753, "wheel_position_rad": [3.5092244148254395, 3.4993841648101807, 3.5129144191741943, 3.496704339981079], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5854997007146108, "forward_m_s": 0.3195747092213972, "normal_height_m": 0.06349459187985228, "ground_tilt_rad": 4.318992774789001e-05}
{"seq": 163, "t_s": 2.624, "x_m": 0.5938519835472107, "y_m": 0.00016085588140413165, "z_m": 0.011777005158364773, "vx_m_s": 0.31521353125572205, "vy_m_s": 2.4720688088564202e-05, "vz_m_s": -0.027539893984794617, "tilt_rad": 0.08750338087160696, "wheel_position_rad": [3.509305477142334, 3.4994359016418457, 3.5129942893981934, 3.496755599975586], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5905657638290776, "forward_m_s": 0.3164143085191635, "normal_height_m": 0.06348980080638934, "ground_tilt_rad": 0.00023691827101649635}
{"seq": 164, "t_s": 2.64, "x_m": 0.5989054441452026, "y_m": 0.00016126525588333607, "z_m": 0.011327799409627914, "vx_m_s": 0.31357768177986145, "vy_m_s": 2.4751272576395422e-05, "vz_m_s": -0.04112090542912483, "tilt_rad": 0.08720852540762129, "wheel_position_rad": [3.5093817710876465, 3.4994876384735107, 3.5130693912506104, 3.4968063831329346], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.5956391453444904, "forward_m_s": 0.31596834708413013, "normal_height_m": 0.06348274253300937, "ground_tilt_rad": 5.7937196011978544e-05}
{"seq": 165, "t_s": 2.656, "x_m": 0.6038962602615356, "y_m": 0.00016166921705007553, "z_m": 0.010873925872147083, "vx_m_s": 0.3111594021320343, "vy_m_s": 2.4669092454132624e-05, "vz_m_s": -0.03283252194523811, "tilt_rad": 0.08731784734298484, "wheel_position_rad": [3.509462833404541, 3.4995388984680176, 3.5131492614746094, 3.4968574047088623], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6006505275840047, "forward_m_s": 0.31283688950174593, "normal_height_m": 0.0634655744069028, "ground_tilt_rad": 5.138474390029243e-05}
{"seq": 166, "t_s": 2.672, "x_m": 0.608881950378418, "y_m": 0.0001620778493816033, "z_m": 0.01047640573233366, "vx_m_s": 0.30928152799606323, "vy_m_s": 2.4716871848795563e-05, "vz_m_s": -0.020428285002708435, "tilt_rad": 0.08708811328470442, "wheel_position_rad": [3.5095443725585938, 3.4995956420898438, 3.5132296085357666, 3.496913194656372], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6056518918078139, "forward_m_s": 0.30988506075986383, "normal_height_m": 0.06350409847648253, "ground_tilt_rad": 0.0001783493168592539}
{"seq": 167, "t_s": 2.688, "x_m": 0.6137906908988953, "y_m": 0.00016247823077719659, "z_m": 0.010035909712314606, "vx_m_s": 0.30828121304512024, "vy_m_s": 2.4897959519876167e-05, "vz_m_s": -0.03343333676457405, "tilt_rad": 0.08744885346682879, "wheel_position_rad": [3.5096094608306885, 3.499652862548828, 3.513293504714966, 3.4969701766967773], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6105803448464237, "forward_m_s": 0.31002201725508965, "normal_height_m": 0.06349310360282676, "ground_tilt_rad": 0.00018239086640755542}
{"seq": 168, "t_s": 2.704, "x_m": 0.6187114715576172, "y_m": 0.00016288603364955634, "z_m": 0.009582603350281715, "vx_m_s": 0.30572792887687683, "vy_m_s": 2.4743998437770642e-05, "vz_m_s": -0.03984314948320389, "tilt_rad": 0.08725773764577206, "wheel_position_rad": [3.509690046310425, 3.4997007846832275, 3.5133731365203857, 3.4970173835754395], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.61552190870179, "forward_m_s": 0.30803710109232957, "normal_height_m": 0.06347039650156755, "ground_tilt_rad": 8.72493209631749e-06}
{"seq": 169, "t_s": 2.72, "x_m": 0.6235848069190979, "y_m": 0.00016329169739037752, "z_m": 0.009146238677203655, "vx_m_s": 0.30368292331695557, "vy_m_s": 2.4751449018367566e-05, "vz_m_s": -0.028593536466360092, "tilt_rad": 0.08727413550156055, "wheel_position_rad": [3.509770631790161, 3.4997551441192627, 3.5134525299072266, 3.4970712661743164], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6204147312381112, "forward_m_s": 0.3050194090178611, "normal_height_m": 0.06346043149090093, "ground_tilt_rad": 7.672897147709038e-06}
{"seq": 170, "t_s": 2.736, "x_m": 0.6284263730049133, "y_m": 0.00016369704098906368, "z_m": 0.008767226710915565, "vx_m_s": 0.3016863465309143, "vy_m_s": 2.4768201910774224e-05, "vz_m_s": -0.017907440662384033, "tilt_rad": 0.08728779803851357, "wheel_position_rad": [3.509852170944214, 3.499811887741089, 3.5135326385498047, 3.4971275329589844], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6252709067726933, "forward_m_s": 0.30209907519240564, "normal_height_m": 0.06350483206784252, "ground_tilt_rad": 2.133543971966815e-05}
{"seq": 171, "t_s": 2.7520000000000002, "x_m": 0.6332294344902039, "y_m": 0.00016410138050559908, "z_m": 0.008278180845081806, "vx_m_s": 0.2998901605606079, "vy_m_s": 2.4766513888607733e-05, "vz_m_s": -0.031839579343795776, "tilt_rad": 0.08741339247579083, "wheel_position_rad": [3.509922981262207, 3.499861717224121, 3.5136024951934814, 3.4971766471862793], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6300983143146229, "forward_m_s": 0.3015239901468414, "normal_height_m": 0.06343626156038841, "ground_tilt_rad": 0.00014692987595823877}
{"seq": 172, "t_s": 2.7680000000000002, "x_m": 0.6380220651626587, "y_m": 0.00016451043484266847, "z_m": 0.007857472635805607, "vx_m_s": 0.2979629635810852, "vy_m_s": 2.4773327822913416e-05, "vz_m_s": -0.028688514605164528, "tilt_rad": 0.08726320426293405, "wheel_position_rad": [3.5100018978118896, 3.499915599822998, 3.5136804580688477, 3.497230052947998], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6349093747168937, "forward_m_s": 0.2993294933459211, "normal_height_m": 0.06343485955883679, "ground_tilt_rad": 3.2585197502730386e-06}
{"seq": 173, "t_s": 2.7840000000000003, "x_m": 0.6427740454673767, "y_m": 0.0001649183832341805, "z_m": 0.007459633518010378, "vx_m_s": 0.296030730009079, "vy_m_s": 2.4778637452982366e-05, "vz_m_s": -0.028177620843052864, "tilt_rad": 0.0872331356637748, "wheel_position_rad": [3.5100793838500977, 3.499969720840454, 3.51375675201416, 3.497283458709717], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6396779462656957, "forward_m_s": 0.29736008518071166, "normal_height_m": 0.06345269671197563, "ground_tilt_rad": 3.3326982522965784e-05}
{"seq": 174, "t_s": 2.8000000000000003, "x_m": 0.6474728584289551, "y_m": 0.00016532150038983673, "z_m": 0.00707041472196579, "vx_m_s": 0.2939468324184418, "vy_m_s": 2.477124144206755e-05, "vz_m_s": -0.021850701421499252, "tilt_rad": 0.08748157490681144, "wheel_position_rad": [3.510159730911255, 3.500025749206543, 3.513836145401001, 3.4973385334014893], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6443928014786054, "forward_m_s": 0.29473269008806263, "normal_height_m": 0.06347448754465705, "ground_tilt_rad": 0.00021511231182404583}
{"seq": 175, "t_s": 2.816, "x_m": 0.6521740555763245, "y_m": 0.00016572893946431577, "z_m": 0.006682300008833408, "vx_m_s": 0.29202747344970703, "vy_m_s": 2.478820169926621e-05, "vz_m_s": -0.016809068620204926, "tilt_rad": 0.08730145868953434, "wheel_position_rad": [3.5102388858795166, 3.5000810623168945, 3.5139143466949463, 3.4973931312561035], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6491099355775933, "forward_m_s": 0.29238122760821644, "normal_height_m": 0.06349758605436531, "ground_tilt_rad": 3.4996137660506944e-05}
{"seq": 176, "t_s": 2.832, "x_m": 0.6568504571914673, "y_m": 0.00016613637853879482, "z_m": 0.006274772807955742, "vx_m_s": 0.28986960649490356, "vy_m_s": 2.474936809448991e-05, "vz_m_s": -0.01403428427875042, "tilt_rad": 0.08704154653092726, "wheel_position_rad": [3.510322093963623, 3.5001327991485596, 3.5139963626861572, 3.4974443912506104], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6538040604086286, "forward_m_s": 0.28998973359840985, "normal_height_m": 0.06349918487367694, "ground_tilt_rad": 0.0002249160755792765}
{"seq": 177, "t_s": 2.848, "x_m": 0.661457359790802, "y_m": 0.00016653821512591094, "z_m": 0.005826949141919613, "vx_m_s": 0.2886963486671448, "vy_m_s": 2.4849177862051874e-05, "vz_m_s": -0.041516102850437164, "tilt_rad": 0.08727960125207092, "wheel_position_rad": [3.5103864669799805, 3.5001838207244873, 3.514059543609619, 3.497495174407959], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6584324627569443, "forward_m_s": 0.2912161386805736, "normal_height_m": 0.06345458332970287, "ground_tilt_rad": 1.3138684309616776e-05}
{"seq": 178, "t_s": 2.864, "x_m": 0.6660745739936829, "y_m": 0.00016694769146852195, "z_m": 0.005407592747360468, "vx_m_s": 0.2864319980144501, "vy_m_s": 2.4772005417617038e-05, "vz_m_s": -0.042967408895492554, "tilt_rad": 0.0869839875675499, "wheel_position_rad": [3.510470151901245, 3.5002329349517822, 3.5141422748565674, 3.4975435733795166], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6630686563838518, "forward_m_s": 0.2890868942220496, "normal_height_m": 0.06343923944610931, "ground_tilt_rad": 0.00028247503700714547}
{"seq": 179, "t_s": 2.88, "x_m": 0.6705953478813171, "y_m": 0.0001673474325798452, "z_m": 0.005073968321084976, "vx_m_s": 0.2845867872238159, "vy_m_s": 2.4841810954967514e-05, "vz_m_s": -0.026274532079696655, "tilt_rad": 0.08750883311618678, "wheel_position_rad": [3.5105416774749756, 3.500298261642456, 3.5142128467559814, 3.497607707977295], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6676013046466556, "forward_m_s": 0.28579382493808225, "normal_height_m": 0.06350089596747074, "ground_tilt_rad": 0.00024237051787160386}
{"seq": 180, "t_s": 2.896, "x_m": 0.6751251220703125, "y_m": 0.00016775212134234607, "z_m": 0.004659099038690329, "vx_m_s": 0.2822325825691223, "vy_m_s": 2.476491681591142e-05, "vz_m_s": -0.02143549546599388, "tilt_rad": 0.08753335809811898, "wheel_position_rad": [3.5106253623962402, 3.5003488063812256, 3.5142953395843506, 3.4976577758789062], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6721499999177358, "forward_m_s": 0.2830268289126032, "normal_height_m": 0.06348240122186913, "ground_tilt_rad": 0.0002668954980275604}
{"seq": 181, "t_s": 2.912, "x_m": 0.679643988609314, "y_m": 0.00016816072457004339, "z_m": 0.004271455574780703, "vx_m_s": 0.28033867478370667, "vy_m_s": 2.4783812477835454e-05, "vz_m_s": -0.016797078773379326, "tilt_rad": 0.08729326290183409, "wheel_position_rad": [3.51070499420166, 3.5004019737243652, 3.514373779296875, 3.4977104663848877], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6766854561592915, "forward_m_s": 0.2807358633660795, "normal_height_m": 0.06349007802795664, "ground_tilt_rad": 2.6800317338930833e-05}
{"seq": 182, "t_s": 2.928, "x_m": 0.684119462966919, "y_m": 0.0001685675379121676, "z_m": 0.003893323242664337, "vx_m_s": 0.278398334980011, "vy_m_s": 2.4794730052235536e-05, "vz_m_s": -0.013228639960289001, "tilt_rad": 0.08721126127705647, "wheel_position_rad": [3.5107834339141846, 3.500457286834717, 3.514451265335083, 3.497765064239502], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6811768563900459, "forward_m_s": 0.27849189720593703, "normal_height_m": 0.06350344789531041, "ground_tilt_rad": 5.5201335057013976e-05}
{"seq": 183, "t_s": 2.944, "x_m": 0.688573956489563, "y_m": 0.00016897523892112076, "z_m": 0.003450216492637992, "vx_m_s": 0.27678027749061584, "vy_m_s": 2.4833372663124464e-05, "vz_m_s": -0.026269877329468727, "tilt_rad": 0.08700591930568857, "wheel_position_rad": [3.510857582092285, 3.5005078315734863, 3.514524459838867, 3.497814893722534], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.685653018517903, "forward_m_s": 0.2780166156430533, "normal_height_m": 0.06345026199177618, "ground_tilt_rad": 0.00026054329898469374}
{"seq": 184, "t_s": 2.96, "x_m": 0.6929696202278137, "y_m": 0.00016937950567808002, "z_m": 0.0030823498964309692, "vx_m_s": 0.2744846045970917, "vy_m_s": 2.4743059839238413e-05, "vz_m_s": -0.03308848664164543, "tilt_rad": 0.08714560442289913, "wheel_position_rad": [3.5109362602233887, 3.500556230545044, 3.5146021842956543, 3.4978628158569336], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6900640171149669, "forward_m_s": 0.27632395943708044, "normal_height_m": 0.06346690257700588, "ground_tilt_rad": 0.00012085818539781848}
{"seq": 185, "t_s": 2.976, "x_m": 0.6973486542701721, "y_m": 0.00016978579515125602, "z_m": 0.002704736776649952, "vx_m_s": 0.2725540101528168, "vy_m_s": 2.475627843523398e-05, "vz_m_s": -0.02871515229344368, "tilt_rad": 0.08709906755287206, "wheel_position_rad": [3.511014699935913, 3.500612258911133, 3.514679431915283, 3.497917890548706], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6944592987626533, "forward_m_s": 0.27401955028412706, "normal_height_m": 0.06347238435362917, "ground_tilt_rad": 0.0001673950541955965}
{"seq": 186, "t_s": 2.992, "x_m": 0.70168536901474, "y_m": 0.0001701901783235371, "z_m": 0.002325323410332203, "vx_m_s": 0.2711166739463806, "vy_m_s": 2.485424920450896e-05, "vz_m_s": -0.03363722935318947, "tilt_rad": 0.08719758674054642, "wheel_position_rad": [3.511087656021118, 3.5006680488586426, 3.514751434326172, 3.4979732036590576], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.6988125790520779, "forward_m_s": 0.2730166708579034, "normal_height_m": 0.06347238436436582, "ground_tilt_rad": 6.887587351610368e-05}
{"seq": 187, "t_s": 3.008, "x_m": 0.706016480922699, "y_m": 0.00017059801029972732, "z_m": 0.0018875214736908674, "vx_m_s": 0.2688497304916382, "vy_m_s": 2.4787930669845082e-05, "vz_m_s": -0.03372548520565033, "tilt_rad": 0.08697576159853858, "wheel_position_rad": [3.5111658573150635, 3.5007169246673584, 3.514828681945801, 3.498021364212036], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7031653667245931, "forward_m_s": 0.27076604581178826, "normal_height_m": 0.06341372967153082, "ground_tilt_rad": 0.0002907010058846845}
{"seq": 188, "t_s": 3.024, "x_m": 0.7102517485618591, "y_m": 0.00017099769320338964, "z_m": 0.0016156831989064813, "vx_m_s": 0.267045259475708, "vy_m_s": 2.4838829631335102e-05, "vz_m_s": -0.024592988193035126, "tilt_rad": 0.08755787600810344, "wheel_position_rad": [3.5112409591674805, 3.5007808208465576, 3.5149028301239014, 3.498084306716919], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.70740821015847, "forward_m_s": 0.2681724917925832, "normal_height_m": 0.06351205372027834, "ground_tilt_rad": 0.00029141340888898465}
{"seq": 189, "t_s": 3.04, "x_m": 0.714542806148529, "y_m": 0.00017140810086857527, "z_m": 0.0011564379092305899, "vx_m_s": 0.2648264169692993, "vy_m_s": 2.48011747316923e-05, "vz_m_s": -0.01647200435400009, "tilt_rad": 0.08705798478020355, "wheel_position_rad": [3.511324405670166, 3.500830888748169, 3.5149850845336914, 3.498133659362793], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7117229648398421, "forward_m_s": 0.26525430227346536, "normal_height_m": 0.06342854630871879, "ground_tilt_rad": 0.0002084778240769009}
{"seq": 190, "t_s": 3.056, "x_m": 0.7187567949295044, "y_m": 0.00017181372095365077, "z_m": 0.0008146283798851073, "vx_m_s": 0.26260364055633545, "vy_m_s": 2.471868174325209e-05, "vz_m_s": -0.026585904881358147, "tilt_rad": 0.08712370751569669, "wheel_position_rad": [3.5114047527313232, 3.500878095626831, 3.5150644779205322, 3.498180389404297], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.715950708784676, "forward_m_s": 0.2639214687083652, "normal_height_m": 0.06345531078996379, "ground_tilt_rad": 0.00014275509276010225}
{"seq": 191, "t_s": 3.072, "x_m": 0.7229234576225281, "y_m": 0.0001722164888633415, "z_m": 0.00048605891061015427, "vx_m_s": 0.26056572794914246, "vy_m_s": 2.4710392608540133e-05, "vz_m_s": -0.021693101152777672, "tilt_rad": 0.0873970208189704, "wheel_position_rad": [3.511483907699585, 3.5009360313415527, 3.5151424407958984, 3.4982378482818604], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7201301527843418, "forward_m_s": 0.2614648750308223, "normal_height_m": 0.06349114020850671, "ground_tilt_rad": 0.0001305582252738925}
{"seq": 192, "t_s": 3.088, "x_m": 0.7270861864089966, "y_m": 0.0001726228801999241, "z_m": 0.00014494740753434598, "vx_m_s": 0.2588554322719574, "vy_m_s": 2.4788794689811766e-05, "vz_m_s": -0.007908225059509277, "tilt_rad": 0.08732331036792773, "wheel_position_rad": [3.5115621089935303, 3.500994920730591, 3.5152196884155273, 3.498295783996582], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7243067709574259, "forward_m_s": 0.2585596564304481, "normal_height_m": 0.06351413245692619, "ground_tilt_rad": 5.6847779583293685e-05}
{"seq": 193, "t_s": 3.104, "x_m": 0.7312095165252686, "y_m": 0.00017302838386967778, "z_m": -0.0002327583933947608, "vx_m_s": 0.2572229206562042, "vy_m_s": 2.479489012330305e-05, "vz_m_s": -0.03187815099954605, "tilt_rad": 0.08736153821913442, "wheel_position_rad": [3.5116333961486816, 3.501044511795044, 3.5152900218963623, 3.498344659805298], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7284473297873583, "forward_m_s": 0.25902247371317183, "normal_height_m": 0.0634972358394796, "ground_tilt_rad": 9.5075629133496e-05}
{"seq": 194, "t_s": 3.12, "x_m": 0.7353046536445618, "y_m": 0.0001734340621624142, "z_m": -0.0005879224045202136, "vx_m_s": 0.2552797794342041, "vy_m_s": 2.4798371669021435e-05, "vz_m_s": -0.030481483787298203, "tilt_rad": 0.08735880810169454, "wheel_position_rad": [3.511711359024048, 3.501098871231079, 3.515366792678833, 3.4983983039855957], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7325578382567437, "forward_m_s": 0.256964999161917, "normal_height_m": 0.06350033805192892, "ground_tilt_rad": 9.234551244316273e-05}
{"seq": 195, "t_s": 3.136, "x_m": 0.7393860816955566, "y_m": 0.00017384196689818054, "z_m": -0.0009652115404605865, "vx_m_s": 0.253128319978714, "vy_m_s": 2.4743416361161508e-05, "vz_m_s": -0.03709481284022331, "tilt_rad": 0.08713465601261415, "wheel_position_rad": [3.511791229248047, 3.501147747039795, 3.5154457092285156, 3.4984467029571533], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7366566181566612, "forward_m_s": 0.25539811626484077, "normal_height_m": 0.0634802045083131, "ground_tilt_rad": 0.00013180659894175708}
{"seq": 196, "t_s": 3.152, "x_m": 0.7433964014053345, "y_m": 0.00017424473480787128, "z_m": -0.001321317977271974, "vx_m_s": 0.25136077404022217, "vy_m_s": 2.4808981834212318e-05, "vz_m_s": -0.02545159123837948, "tilt_rad": 0.08742157661955967, "wheel_position_rad": [3.511863946914673, 3.5012056827545166, 3.5155177116394043, 3.4985039234161377], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7406827141101922, "forward_m_s": 0.2526225227455974, "normal_height_m": 0.0634749755569665, "ground_tilt_rad": 0.00015511402607469525}
{"seq": 197, "t_s": 3.168, "x_m": 0.7473971247673035, "y_m": 0.0001746505149640143, "z_m": -0.0016996010672301054, "vx_m_s": 0.24939154088497162, "vy_m_s": 2.481560113665182e-05, "vz_m_s": -0.0217389315366745, "tilt_rad": 0.08743248819897191, "wheel_position_rad": [3.511941432952881, 3.5012588500976562, 3.515594005584717, 3.49855637550354], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7447011830555917, "forward_m_s": 0.25033720350315886, "normal_height_m": 0.06344681796451278, "ground_tilt_rad": 0.00016602560535493023}
{"seq": 198, "t_s": 3.184, "x_m": 0.7513672113418579, "y_m": 0.00017505635332781821, "z_m": -0.002021440537646413, "vx_m_s": 0.24740161001682281, "vy_m_s": 2.481606679793913e-05, "vz_m_s": -0.018008068203926086, "tilt_rad": 0.08742976026318104, "wheel_position_rad": [3.51202130317688, 3.5013139247894287, 3.5156729221343994, 3.498610734939575], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7486842124102178, "forward_m_s": 0.24802967875788426, "normal_height_m": 0.06347221903462519, "ground_tilt_rad": 0.00016329767035049478}
{"seq": 199, "t_s": 3.2, "x_m": 0.7552999258041382, "y_m": 0.00017546086746733636, "z_m": -0.0023510982282459736, "vx_m_s": 0.24537791311740875, "vy_m_s": 2.480867442500312e-05, "vz_m_s": -0.013930918648838997, "tilt_rad": 0.08750883179910995, "wheel_position_rad": [3.5121004581451416, 3.501368761062622, 3.5157508850097656, 3.498664617538452], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7526306932675267, "forward_m_s": 0.24565833563837636, "normal_height_m": 0.06348657444103924, "ground_tilt_rad": 0.0002423692027533252}
{"seq": 200, "t_s": 3.216, "x_m": 0.7592165470123291, "y_m": 0.0001758674334269017, "z_m": -0.0026828115805983543, "vx_m_s": 0.24320310354232788, "vy_m_s": 2.4754461264819838e-05, "vz_m_s": -0.018207291141152382, "tilt_rad": 0.08739429083041209, "wheel_position_rad": [3.5121805667877197, 3.501420259475708, 3.5158302783966064, 3.49871563911438], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7565613212731638, "forward_m_s": 0.24386451229115486, "normal_height_m": 0.06349747938860066, "ground_tilt_rad": 0.0001278282380371838}
{"seq": 201, "t_s": 3.232, "x_m": 0.7631107568740845, "y_m": 0.00017627507622819394, "z_m": -0.0030250081326812506, "vx_m_s": 0.24105316400527954, "vy_m_s": 2.4703025701455772e-05, "vz_m_s": -0.023008158430457115, "tilt_rad": 0.08717022986606407, "wheel_position_rad": [3.512261152267456, 3.5014703273773193, 3.5159096717834473, 3.498765230178833], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7604705368853636, "forward_m_s": 0.24214117707756175, "normal_height_m": 0.06349598775062694, "ground_tilt_rad": 9.623274657893041e-05}
{"seq": 202, "t_s": 3.248, "x_m": 0.7669618129730225, "y_m": 0.00017668097279965878, "z_m": -0.003367538098245859, "vx_m_s": 0.23913787305355072, "vy_m_s": 2.4720131477806717e-05, "vz_m_s": -0.01769961602985859, "tilt_rad": 0.08709906574778707, "wheel_position_rad": [3.512340784072876, 3.501523733139038, 3.5159881114959717, 3.4988179206848145], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7643367920067415, "forward_m_s": 0.2397705044303148, "normal_height_m": 0.06349040286965978, "ground_tilt_rad": 0.00016739685884902236}
{"seq": 203, "t_s": 3.2640000000000002, "x_m": 0.7707749009132385, "y_m": 0.00017708643281366676, "z_m": -0.0037062675692141056, "vx_m_s": 0.23718763887882233, "vy_m_s": 2.4727727577555925e-05, "vz_m_s": -0.012842874974012375, "tilt_rad": 0.08711275545399863, "wheel_position_rad": [3.512420415878296, 3.5015783309936523, 3.516066789627075, 3.4988718032836914], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7681648922147752, "forward_m_s": 0.23740439861135773, "normal_height_m": 0.06348529487818545, "ground_tilt_rad": 0.00015370715216073697}
{"seq": 204, "t_s": 3.2800000000000002, "x_m": 0.7745608687400818, "y_m": 0.00017749275139067322, "z_m": -0.004023274406790733, "vx_m_s": 0.2352977991104126, "vy_m_s": 2.474443317623809e-05, "vz_m_s": -0.01034817285835743, "tilt_rad": 0.08707441816202262, "wheel_position_rad": [3.512497663497925, 3.501633405685425, 3.5161428451538086, 3.4989264011383057], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7719640822574073, "forward_m_s": 0.23530432263800097, "normal_height_m": 0.06349946318530005, "ground_tilt_rad": 0.00019204444589980787}
{"seq": 205, "t_s": 3.2960000000000003, "x_m": 0.7782999277114868, "y_m": 0.00017789663979783654, "z_m": -0.00435326574370265, "vx_m_s": 0.23385834693908691, "vy_m_s": 2.4824763386277482e-05, "vz_m_s": -0.019568879157304764, "tilt_rad": 0.08723860129286526, "wheel_position_rad": [3.512568235397339, 3.5016887187957764, 3.5162124633789062, 3.49898099899292], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7757176736206424, "forward_m_s": 0.23467398552291244, "normal_height_m": 0.0634966080268823, "ground_tilt_rad": 2.7861342289043134e-05}
{"seq": 206, "t_s": 3.3120000000000003, "x_m": 0.7820202708244324, "y_m": 0.00017830236174631864, "z_m": -0.00464983144775033, "vx_m_s": 0.23145538568496704, "vy_m_s": 2.4761360691627488e-05, "vz_m_s": -0.0063260276801884174, "tilt_rad": 0.08723860108875305, "wheel_position_rad": [3.512653112411499, 3.5017433166503906, 3.516295909881592, 3.499035120010376], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7794497071090506, "forward_m_s": 0.23112597770525334, "normal_height_m": 0.06352542011215905, "ground_tilt_rad": 2.786155348345253e-05}
{"seq": 207, "t_s": 3.3280000000000003, "x_m": 0.7857196927070618, "y_m": 0.0001787105284165591, "z_m": -0.0050281742587685585, "vx_m_s": 0.229587584733963, "vy_m_s": 2.4773906261543743e-05, "vz_m_s": -0.00787743367254734, "tilt_rad": 0.08712096754942683, "wheel_position_rad": [3.512727975845337, 3.5017969608306885, 3.5163698196411133, 3.4990880489349365], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7831680263232381, "forward_m_s": 0.2294004982423396, "normal_height_m": 0.06347094287167908, "ground_tilt_rad": 0.00014549506698322917}
{"seq": 208, "t_s": 3.344, "x_m": 0.7893658876419067, "y_m": 0.0001791153335943818, "z_m": -0.005341285839676857, "vx_m_s": 0.2276475429534912, "vy_m_s": 2.4772261895122938e-05, "vz_m_s": -0.01073702797293663, "tilt_rad": 0.0872768656862892, "wheel_position_rad": [3.5128045082092285, 3.5018489360809326, 3.5164453983306885, 3.4991395473480225], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7868276358579367, "forward_m_s": 0.22771706897176452, "normal_height_m": 0.06347680960261626, "ground_tilt_rad": 1.0403358568844708e-05}
{"seq": 209, "t_s": 3.36, "x_m": 0.7929972410202026, "y_m": 0.00017952230700757354, "z_m": -0.005659810733050108, "vx_m_s": 0.2258264720439911, "vy_m_s": 2.4780356397968717e-05, "vz_m_s": -0.0185595341026783, "tilt_rad": 0.0872221959915044, "wheel_position_rad": [3.51287841796875, 3.5019006729125977, 3.5165181159973145, 3.4991908073425293], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7904729321139581, "forward_m_s": 0.22658470411875714, "normal_height_m": 0.0634759900934922, "ground_tilt_rad": 4.4266692739233475e-05}
{"seq": 210, "t_s": 3.376, "x_m": 0.7965699434280396, "y_m": 0.00019092099682893604, "z_m": -0.00594204431399703, "vx_m_s": 0.22382423281669617, "vy_m_s": -3.660726360976696e-05, "vz_m_s": -0.010051553137600422, "tilt_rad": 0.08751700550383021, "wheel_position_rad": [3.5129740238189697, 3.501943826675415, 3.5165810585021973, 3.4992611408233643], "contacts": 3, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.7940566375878807, "forward_m_s": 0.22384856461592031, "normal_height_m": 0.06350621202850079, "ground_tilt_rad": 0.0002865321966023592}
{"seq": 211, "t_s": 3.392, "x_m": 0.8001937866210938, "y_m": 0.00013667783059645444, "z_m": -0.0063126361928880215, "vx_m_s": 0.2219199240207672, "vy_m_s": -0.0001377919688820839, "vz_m_s": -0.018203379586338997, "tilt_rad": 0.08677260717254967, "wheel_position_rad": [3.5130884647369385, 3.5019547939300537, 3.516620635986328, 3.4993486404418945], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.797698990173978, "forward_m_s": 0.22266198077877622, "normal_height_m": 0.0634528691086854, "ground_tilt_rad": 0.0007421270092067463}
{"seq": 212, "t_s": 3.408, "x_m": 0.8036563992500305, "y_m": 0.00018719541549216956, "z_m": -0.00662299944087863, "vx_m_s": 0.22026193141937256, "vy_m_s": 5.096159293316305e-05, "vz_m_s": -0.020309999585151672, "tilt_rad": 0.08767763998390168, "wheel_position_rad": [3.513195276260376, 3.501974105834961, 3.5166478157043457, 3.4994430541992188], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8011754764558706, "forward_m_s": 0.22119390137047512, "normal_height_m": 0.06344547346207703, "ground_tilt_rad": 0.0004191998008291004}
{"seq": 213, "t_s": 3.424, "x_m": 0.8071843981742859, "y_m": 0.0001836252777138725, "z_m": -0.006889235228300095, "vx_m_s": 0.21855264902114868, "vy_m_s": 3.3248601539526135e-05, "vz_m_s": -0.024206319823861122, "tilt_rad": 0.08734515321431112, "wheel_position_rad": [3.5132901668548584, 3.502013921737671, 3.516716718673706, 3.499509572982788], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8047132542568858, "forward_m_s": 0.2198307099922104, "normal_height_m": 0.06348773614886191, "ground_tilt_rad": 8.474510075634565e-05}
{"seq": 214, "t_s": 3.44, "x_m": 0.8106586337089539, "y_m": 0.00018259917851537466, "z_m": -0.007170024327933788, "vx_m_s": 0.21610531210899353, "vy_m_s": 2.793391831801273e-05, "vz_m_s": -0.011706621386110783, "tilt_rad": 0.08730418609042788, "wheel_position_rad": [3.513380765914917, 3.5020594596862793, 3.5167901515960693, 3.499570846557617], "contacts": 0, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8081987416589781, "forward_m_s": 0.21630326543441336, "normal_height_m": 0.06351081511502916, "ground_tilt_rad": 4.001505899813933e-05}
{"seq": 215, "t_s": 3.456, "x_m": 0.8140981197357178, "y_m": 0.00018242790247313678, "z_m": -0.007478069514036179, "vx_m_s": 0.21422123908996582, "vy_m_s": 2.6116125809494406e-05, "vz_m_s": -0.015534153208136559, "tilt_rad": 0.08731238071323284, "wheel_position_rad": [3.513458013534546, 3.5021116733551025, 3.5168657302856445, 3.4996230602264404], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8116519873099955, "forward_m_s": 0.2147599532608792, "normal_height_m": 0.06350371309319408, "ground_tilt_rad": 4.6314810635660605e-05}
{"seq": 216, "t_s": 3.472, "x_m": 0.8175097703933716, "y_m": 0.00017128942999988794, "z_m": -0.007803224492818117, "vx_m_s": 0.21235433220863342, "vy_m_s": 0.0003485623747110367, "vz_m_s": -0.03141995146870613, "tilt_rad": 0.08728232858197316, "wheel_position_rad": [3.513543128967285, 3.5021462440490723, 3.5169284343719482, 3.499688148498535], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8150789947305753, "forward_m_s": 0.21428468907040427, "normal_height_m": 0.06347714037433673, "ground_tilt_rad": 0.00014091957798604635}
{"seq": 217, "t_s": 3.488, "x_m": 0.8208881616592407, "y_m": 0.00018650021229404956, "z_m": -0.008070423267781734, "vx_m_s": 0.2100864201784134, "vy_m_s": -1.912185689434409e-05, "vz_m_s": -0.004900064785033464, "tilt_rad": 0.08726866510941232, "wheel_position_rad": [3.513620138168335, 3.5022199153900146, 3.5170228481292725, 3.499732494354248], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8184678181054069, "forward_m_s": 0.20971404670866137, "normal_height_m": 0.0635054045714504, "ground_tilt_rad": 4.736487326060472e-05}
{"seq": 218, "t_s": 3.504, "x_m": 0.824235737323761, "y_m": 0.00019657220400404185, "z_m": -0.008449397049844265, "vx_m_s": 0.2082313597202301, "vy_m_s": 3.447994822636247e-05, "vz_m_s": -0.01214525941759348, "tilt_rad": 0.08726866489268952, "wheel_position_rad": [3.5136914253234863, 3.502270460128784, 3.517096519470215, 3.499781847000122], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8218356849753203, "forward_m_s": 0.20849750563513164, "normal_height_m": 0.06341963334248917, "ground_tilt_rad": 0.00016964766026626515}
{"seq": 219, "t_s": 3.52, "x_m": 0.8275507688522339, "y_m": 0.00019507380784489214, "z_m": -0.00870535895228386, "vx_m_s": 0.20657098293304443, "vy_m_s": 1.5108278603293002e-05, "vz_m_s": -0.035334452986717224, "tilt_rad": 0.08726866456616462, "wheel_position_rad": [3.5137720108032227, 3.5023133754730225, 3.5171587467193604, 3.4998373985290527], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8251604103577144, "forward_m_s": 0.20886451847213885, "normal_height_m": 0.06345356948746134, "ground_tilt_rad": 0.00014555958209812474}
{"seq": 220, "t_s": 3.536, "x_m": 0.8308342099189758, "y_m": 0.00017395673785358667, "z_m": -0.008938753046095371, "vx_m_s": 0.20433756709098816, "vy_m_s": 0.00029019638895988464, "vz_m_s": -0.012182188220322132, "tilt_rad": 0.08726866404686577, "wheel_position_rad": [3.5138537883758545, 3.502368211746216, 3.517246961593628, 3.4999003410339355], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8284516985754984, "forward_m_s": 0.2046217486196427, "normal_height_m": 0.06350723427358043, "ground_tilt_rad": 0.00012682912987307317}
{"seq": 221, "t_s": 3.552, "x_m": 0.8340875506401062, "y_m": 0.0001992298784898594, "z_m": -0.009272110648453236, "vx_m_s": 0.2023569643497467, "vy_m_s": 6.273825420066714e-05, "vz_m_s": -0.009402215480804443, "tilt_rad": 0.08727139678734425, "wheel_position_rad": [3.5139338970184326, 3.5024240016937256, 3.517319917678833, 3.4999501705169678], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8317217133824085, "forward_m_s": 0.2024063920808611, "normal_height_m": 0.06345869252450426, "ground_tilt_rad": 0.00018793043356891498}
{"seq": 222, "t_s": 3.568, "x_m": 0.837308943271637, "y_m": 0.00018781879043672234, "z_m": -0.009519976563751698, "vx_m_s": 0.20064932107925415, "vy_m_s": -2.6103283744305372e-05, "vz_m_s": -0.028806239366531372, "tilt_rad": 0.08727139633821554, "wheel_position_rad": [3.5140035152435303, 3.5024819374084473, 3.51739764213562, 3.4999938011169434], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8349524505803609, "forward_m_s": 0.20239641902261818, "normal_height_m": 0.06349253268132918, "ground_tilt_rad": 3.8654608792345637e-05}
{"seq": 223, "t_s": 3.584, "x_m": 0.8404998779296875, "y_m": 0.0001826263323891908, "z_m": -0.009820917621254921, "vx_m_s": 0.19852706789970398, "vy_m_s": -6.425159517675638e-05, "vz_m_s": -0.014531395398080349, "tilt_rad": 0.08727139593730782, "wheel_position_rad": [3.5140793323516846, 3.5025405883789062, 3.5174789428710938, 3.5000433921813965], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8381574715100581, "forward_m_s": 0.19903810702846467, "normal_height_m": 0.06347084507558798, "ground_tilt_rad": 3.287115776017434e-05}
{"seq": 224, "t_s": 3.6, "x_m": 0.8436590433120728, "y_m": 0.00017925762222148478, "z_m": -0.010080537758767605, "vx_m_s": 0.1966589093208313, "vy_m_s": 0.0003179325722157955, "vz_m_s": -0.020937155932188034, "tilt_rad": 0.08727139554496997, "wheel_position_rad": [3.514155149459839, 3.502592086791992, 3.51755690574646, 3.500098466873169], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8413272427003023, "forward_m_s": 0.19773535617421087, "normal_height_m": 0.06348755227644447, "ground_tilt_rad": 8.040880183090834e-05}
{"seq": 225, "t_s": 3.616, "x_m": 0.84678715467453, "y_m": 0.000186912773642689, "z_m": -0.010354251600801945, "vx_m_s": 0.19476045668125153, "vy_m_s": -7.028772961348295e-05, "vz_m_s": -0.024781271815299988, "tilt_rad": 0.08727412800486543, "wheel_position_rad": [3.514235019683838, 3.502645254135132, 3.517629861831665, 3.500150680541992], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8444673063878257, "forward_m_s": 0.19617916449508394, "normal_height_m": 0.06348751286740789, "ground_tilt_rad": 1.3801813944795948e-05}
{"seq": 226, "t_s": 3.632, "x_m": 0.849884569644928, "y_m": 0.00018725327390711755, "z_m": -0.010629542171955109, "vx_m_s": 0.1926795095205307, "vy_m_s": -7.088377606123686e-05, "vz_m_s": -0.014022956602275372, "tilt_rad": 0.08727139488801357, "wheel_position_rad": [3.5143158435821533, 3.5027003288269043, 3.5177056789398193, 3.5002036094665527], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8475769279133265, "forward_m_s": 0.19316848701346018, "normal_height_m": 0.06348322736233322, "ground_tilt_rad": 1.1740271140999744e-05}
{"seq": 227, "t_s": 3.648, "x_m": 0.8529505133628845, "y_m": 0.00018527862266637385, "z_m": -0.010901466943323612, "vx_m_s": 0.19079139828681946, "vy_m_s": 0.00032036611810326576, "vz_m_s": -0.018745504319667816, "tilt_rad": 0.08727139448402332, "wheel_position_rad": [3.514390707015991, 3.502753496170044, 3.5177860260009766, 3.500257730484009], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8506549045952225, "forward_m_s": 0.19169915776700017, "normal_height_m": 0.06347955194877712, "ground_tilt_rad": 2.0080690047416977e-05}
{"seq": 228, "t_s": 3.664, "x_m": 0.855985164642334, "y_m": 0.00018154784629587084, "z_m": -0.011170290410518646, "vx_m_s": 0.18890151381492615, "vy_m_s": -0.0001416248269379139, "vz_m_s": -0.02324102260172367, "tilt_rad": 0.0872713940513695, "wheel_position_rad": [3.514468193054199, 3.5028069019317627, 3.5178589820861816, 3.500308036804199], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8537014376193188, "forward_m_s": 0.19020827511100238, "normal_height_m": 0.06347623872227533, "ground_tilt_rad": 7.197495015477407e-05}
{"seq": 229, "t_s": 3.68, "x_m": 0.8589885234832764, "y_m": 0.00019101411453448236, "z_m": -0.011432342231273651, "vx_m_s": 0.18683475255966187, "vy_m_s": -8.393207099288702e-05, "vz_m_s": -0.013573887757956982, "tilt_rad": 0.0872741265064205, "wheel_position_rad": [3.514549493789673, 3.502861976623535, 3.517935037612915, 3.500361680984497], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8567162070942088, "forward_m_s": 0.18730683218873642, "normal_height_m": 0.06347694405833398, "ground_tilt_rad": 4.352683259468255e-05}
{"seq": 230, "t_s": 3.696, "x_m": 0.8619605898857117, "y_m": 0.00019753265951294452, "z_m": -0.011667588725686073, "vx_m_s": 0.18481074273586273, "vy_m_s": -3.8243248127400875e-05, "vz_m_s": -0.007514359895139933, "tilt_rad": 0.08727412617661959, "wheel_position_rad": [3.514634370803833, 3.502913236618042, 3.518009901046753, 3.500420570373535], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8596974669696408, "forward_m_s": 0.18476240168179817, "normal_height_m": 0.06350162540265528, "ground_tilt_rad": 0.00012044302295749723}
{"seq": 231, "t_s": 3.712, "x_m": 0.864898145198822, "y_m": 0.00018514761177357286, "z_m": -0.011963792145252228, "vx_m_s": 0.18350620567798615, "vy_m_s": -0.00016120495274662971, "vz_m_s": -0.02267265133559704, "tilt_rad": 0.08732603156580189, "wheel_position_rad": [3.514734983444214, 3.502933979034424, 3.5180370807647705, 3.500506639480591], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8626496598269493, "forward_m_s": 0.1847839609305558, "normal_height_m": 0.06346257394170329, "ground_tilt_rad": 7.267876206665424e-05}
{"seq": 232, "t_s": 3.728, "x_m": 0.8678235411643982, "y_m": 0.0001833540154621005, "z_m": -0.012212495319545269, "vx_m_s": 0.1808348000049591, "vy_m_s": 0.0002785101532936096, "vz_m_s": -0.017156505957245827, "tilt_rad": 0.08712917158239347, "wheel_position_rad": [3.5148520469665527, 3.50295090675354, 3.5181031227111816, 3.500584840774536], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8655855996875544, "forward_m_s": 0.1816419570150798, "normal_height_m": 0.06346978221628477, "ground_tilt_rad": 0.00015390325076242978}
{"seq": 233, "t_s": 3.744, "x_m": 0.870679497718811, "y_m": 0.00020004581892862916, "z_m": -0.01243831031024456, "vx_m_s": 0.1792115569114685, "vy_m_s": -0.00010418472811579704, "vz_m_s": -0.010881384834647179, "tilt_rad": 0.08741611014289657, "wheel_position_rad": [3.5149660110473633, 3.502979040145874, 3.5181281566619873, 3.5006773471832275], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8684503695382788, "forward_m_s": 0.17947797800935883, "normal_height_m": 0.0634937395345554, "ground_tilt_rad": 0.0002025489543214355}
{"seq": 234, "t_s": 3.7600000000000002, "x_m": 0.8735419511795044, "y_m": 0.00017978610412683338, "z_m": -0.012682787142693996, "vx_m_s": 0.1773272603750229, "vy_m_s": 4.978792276233435e-06, "vz_m_s": -0.013962564058601856, "tilt_rad": 0.08722765593475722, "wheel_position_rad": [3.515068292617798, 3.5030057430267334, 3.518183708190918, 3.500753879547119], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8713232380592726, "forward_m_s": 0.17786939425392148, "normal_height_m": 0.06349967226771033, "ground_tilt_rad": 0.00013082655216007174}
{"seq": 235, "t_s": 3.7760000000000002, "x_m": 0.8763461112976074, "y_m": 0.0001920207287184894, "z_m": -0.01294166874140501, "vx_m_s": 0.1748843789100647, "vy_m_s": 9.327998850494623e-05, "vz_m_s": -0.0137847401201725, "tilt_rad": 0.08738609305036533, "wheel_position_rad": [3.5151872634887695, 3.5030202865600586, 3.5182301998138428, 3.500840902328491], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8741392905195465, "forward_m_s": 0.1754203103130314, "normal_height_m": 0.06348617444951754, "ground_tilt_rad": 0.0001221684212714211}
{"seq": 236, "t_s": 3.7920000000000003, "x_m": 0.8791409134864807, "y_m": 0.0001748515642248094, "z_m": -0.013198330998420715, "vx_m_s": 0.17316581308841705, "vy_m_s": 9.164842776954174e-05, "vz_m_s": -0.00931989774107933, "tilt_rad": 0.08726592478504351, "wheel_position_rad": [3.5152738094329834, 3.5030629634857178, 3.5182926654815674, 3.500908374786377], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8769458272319629, "forward_m_s": 0.17331914749938326, "normal_height_m": 0.06347407193048227, "ground_tilt_rad": 0.00019761967254691785}
{"seq": 237, "t_s": 3.8080000000000003, "x_m": 0.8818934559822083, "y_m": 0.00019333760428708047, "z_m": -0.01342176366597414, "vx_m_s": 0.17133285105228424, "vy_m_s": -0.00019610673189163208, "vz_m_s": -0.019295210018754005, "tilt_rad": 0.08728232079014649, "wheel_position_rad": [3.5153536796569824, 3.5031158924102783, 3.518364667892456, 3.500959634780884], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8797073689125735, "forward_m_s": 0.17236256618788484, "normal_height_m": 0.06349138937734468, "ground_tilt_rad": 3.497854853918044e-05}
{"seq": 238, "t_s": 3.8240000000000003, "x_m": 0.884616494178772, "y_m": 0.00020110483455937356, "z_m": -0.013674556277692318, "vx_m_s": 0.16928383708000183, "vy_m_s": -0.00013540452346205711, "vz_m_s": -0.011201216839253902, "tilt_rad": 0.08728232042355903, "wheel_position_rad": [3.5154340267181396, 3.5031707286834717, 3.5184407234191895, 3.5010123252868652], "contacts": 6, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.882442077454527, "forward_m_s": 0.16961591134502743, "normal_height_m": 0.06347688713438601, "ground_tilt_rad": 0.00012533206266426852}
{"seq": 239, "t_s": 3.84, "x_m": 0.8873085975646973, "y_m": 0.00018721458036452532, "z_m": -0.013927609659731388, "vx_m_s": 0.16742345690727234, "vy_m_s": 0.00018870900385081768, "vz_m_s": -0.018220704048871994, "tilt_rad": 0.08727958725952377, "wheel_position_rad": [3.5155065059661865, 3.5032200813293457, 3.518516778945923, 3.501065969467163], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8851459916297671, "forward_m_s": 0.16837439910198124, "normal_height_m": 0.06345942896701832, "ground_tilt_rad": 5.806537607479663e-05}
{"seq": 240, "t_s": 3.856, "x_m": 0.8899690508842468, "y_m": 0.0001879072078736499, "z_m": -0.014138525351881981, "vx_m_s": 0.16543246805667877, "vy_m_s": 0.00017540343105793, "vz_m_s": -0.014643864706158638, "tilt_rad": 0.08727958677622313, "wheel_position_rad": [3.5155861377716064, 3.503274440765381, 3.5185954570770264, 3.5011203289031982], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8878147036350295, "forward_m_s": 0.16607924447545694, "normal_height_m": 0.06348118965786435, "ground_tilt_rad": 5.453444719760904e-05}
{"seq": 241, "t_s": 3.872, "x_m": 0.8925985097885132, "y_m": 0.0001824789069360122, "z_m": -0.0143708735704422, "vx_m_s": 0.16341504454612732, "vy_m_s": 0.0001297935377806425, "vz_m_s": -0.008926843293011189, "tilt_rad": 0.08727685362267772, "wheel_position_rad": [3.515664577484131, 3.503329038619995, 3.518674373626709, 3.5011746883392334], "contacts": 5, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8904544071358744, "forward_m_s": 0.1635712266228728, "normal_height_m": 0.06347889803824938, "ground_tilt_rad": 0.00012717584747874412}
{"seq": 242, "t_s": 3.888, "x_m": 0.8951970934867859, "y_m": 0.00019378424622118473, "z_m": -0.01459040679037571, "vx_m_s": 0.16160809993743896, "vy_m_s": -0.0002119261771440506, "vz_m_s": -0.020279502496123314, "tilt_rad": 0.0872713878697281, "wheel_position_rad": [3.5157358646392822, 3.5033886432647705, 3.518752336502075, 3.50121808052063], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8930622360194824, "forward_m_s": 0.16276060742896026, "normal_height_m": 0.06348668170081152, "ground_tilt_rad": 1.220749835761759e-05}
{"seq": 243, "t_s": 3.904, "x_m": 0.8977643251419067, "y_m": 0.00019882622291333973, "z_m": -0.014827453531324863, "vx_m_s": 0.15958672761917114, "vy_m_s": -0.0001681812573224306, "vz_m_s": -0.014093360863626003, "tilt_rad": 0.08726865459767164, "wheel_position_rad": [3.5158119201660156, 3.503448009490967, 3.5188324451446533, 3.5012664794921875], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8956403585678605, "forward_m_s": 0.16020776927390992, "normal_height_m": 0.06347428597598541, "ground_tilt_rad": 6.987351670971637e-05}
{"seq": 244, "t_s": 3.92, "x_m": 0.9002999663352966, "y_m": 0.00020397979824338108, "z_m": -0.015042862854897976, "vx_m_s": 0.1575930118560791, "vy_m_s": -0.00012805801816284657, "vz_m_s": -0.01029283832758665, "tilt_rad": 0.08727138698431783, "wheel_position_rad": [3.515890598297119, 3.50350284576416, 3.5189101696014404, 3.5013198852539062], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.8981851250405692, "forward_m_s": 0.15789040283675798, "normal_height_m": 0.0634806920414738, "ground_tilt_rad": 0.00013001373649474795}
{"seq": 245, "t_s": 3.936, "x_m": 0.9028046131134033, "y_m": 0.00019724084995687008, "z_m": -0.015273740515112877, "vx_m_s": 0.1557604968547821, "vy_m_s": 0.00023011211305856705, "vz_m_s": -0.019574353471398354, "tilt_rad": 0.08727138635195777, "wheel_position_rad": [3.5159640312194824, 3.5035533905029297, 3.5189874172210693, 3.501373052597046], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9007003631954716, "forward_m_s": 0.15687379845447488, "normal_height_m": 0.0634689872907263, "ground_tilt_rad": 3.9818713311461124e-05}
{"seq": 246, "t_s": 3.952, "x_m": 0.9052779078483582, "y_m": 0.00020088559540454298, "z_m": -0.01547618955373764, "vx_m_s": 0.15378513932228088, "vy_m_s": 0.0002540214918553829, "vz_m_s": -0.017354831099510193, "tilt_rad": 0.08727138586867425, "wheel_position_rad": [3.5160484313964844, 3.5036022663116455, 3.519059419631958, 3.501432180404663], "contacts": 7, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9031818908935817, "forward_m_s": 0.1547125136328946, "normal_height_m": 0.06348287047147341, "ground_tilt_rad": 8.065152011517961e-05}
{"seq": 247, "t_s": 3.968, "x_m": 0.9077205061912537, "y_m": 0.0001851395209087059, "z_m": -0.015702197328209877, "vx_m_s": 0.15178437530994415, "vy_m_s": 0.00013887113891541958, "vz_m_s": -0.012929090298712254, "tilt_rad": 0.08726865223805144, "wheel_position_rad": [3.516119956970215, 3.5036590099334717, 3.5191404819488525, 3.501481056213379], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9056348922877928, "forward_m_s": 0.15233363440496983, "normal_height_m": 0.0634706091976259, "ground_tilt_rad": 0.00012390062048028337}
{"seq": 248, "t_s": 3.984, "x_m": 0.9101315140724182, "y_m": 0.0001902211515698582, "z_m": -0.015909535810351372, "vx_m_s": 0.14980332553386688, "vy_m_s": 0.00016498868353664875, "vz_m_s": -0.010126061737537384, "tilt_rad": 0.087271384591284, "wheel_position_rad": [3.51619815826416, 3.503714084625244, 3.5192196369171143, 3.5015344619750977], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9080547962954775, "forward_m_s": 0.1501158230851937, "normal_height_m": 0.06347419288365952, "ground_tilt_rad": 6.489730964663147e-05}
{"seq": 249, "t_s": 4.0, "x_m": 0.9125111699104309, "y_m": 0.00018532740068621933, "z_m": -0.01611047051846981, "vx_m_s": 0.14783334732055664, "vy_m_s": 0.00012675789184868336, "vz_m_s": -0.00825024489313364, "tilt_rad": 0.0872713839450246, "wheel_position_rad": [3.5162761211395264, 3.5037684440612793, 3.5192971229553223, 3.501587390899658], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9104429094383186, "forward_m_s": 0.14798985302340523, "normal_height_m": 0.06348142346481511, "ground_tilt_rad": 0.00013185786051553443}
{"seq": 250, "t_s": 4.016, "x_m": 0.9148596525192261, "y_m": 0.00018707064737100154, "z_m": -0.016304045915603638, "vx_m_s": 0.14587603509426117, "vy_m_s": 0.00013728812336921692, "vz_m_s": -0.007413028739392757, "tilt_rad": 0.0872741161428768, "wheel_position_rad": [3.5163543224334717, 3.5038230419158936, 3.519374132156372, 3.5016400814056396], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.912799326569276, "forward_m_s": 0.1459670207653399, "normal_height_m": 0.06349326842660888, "ground_tilt_rad": 0.00011509427913848997}
{"seq": 251, "t_s": 4.032, "x_m": 0.9171773791313171, "y_m": 0.00019395005074329674, "z_m": -0.016526473686099052, "vx_m_s": 0.1440589278936386, "vy_m_s": -0.00021964823827147484, "vz_m_s": -0.01782434992492199, "tilt_rad": 0.0872741156747173, "wheel_position_rad": [3.516432046890259, 3.5038769245147705, 3.5194458961486816, 3.5016891956329346], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9151276193894126, "forward_m_s": 0.14506423463712462, "normal_height_m": 0.0634736902452958, "ground_tilt_rad": 3.3797535222231486e-05}
{"seq": 252, "t_s": 4.048, "x_m": 0.9194636344909668, "y_m": 0.0001953635219251737, "z_m": -0.016719574108719826, "vx_m_s": 0.1421017050743103, "vy_m_s": -0.00020744884386658669, "vz_m_s": -0.016992080956697464, "tilt_rad": 0.08727411510739563, "wheel_position_rad": [3.5165107250213623, 3.5039303302764893, 3.519522190093994, 3.5017430782318115], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9174220046679377, "forward_m_s": 0.14304192262143411, "normal_height_m": 0.06348058491206278, "ground_tilt_rad": 2.1569048645085694e-05}
{"seq": 253, "t_s": 4.064, "x_m": 0.9217188954353333, "y_m": 0.00019236230582464486, "z_m": -0.01691603846848011, "vx_m_s": 0.14014080166816711, "vy_m_s": -0.0002361866645514965, "vz_m_s": -0.015913648530840874, "tilt_rad": 0.08727411445464893, "wheel_position_rad": [3.5165834426879883, 3.5039896965026855, 3.5196049213409424, 3.501790761947632], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9196858066607273, "forward_m_s": 0.14099448946568555, "normal_height_m": 0.06348142710120164, "ground_tilt_rad": 6.373612835801974e-05}
{"seq": 254, "t_s": 4.08, "x_m": 0.9239431023597717, "y_m": 0.000202115043066442, "z_m": -0.017124244943261147, "vx_m_s": 0.13816392421722412, "vy_m_s": -0.00017590937204658985, "vz_m_s": -0.013413984328508377, "tilt_rad": 0.0872713812714602, "wheel_position_rad": [3.5166566371917725, 3.5040478706359863, 3.519684314727783, 3.501837968826294], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9219196961962663, "forward_m_s": 0.138807274540105, "normal_height_m": 0.06346786532144033, "ground_tilt_rad": 5.522195631722389e-05}
{"seq": 255, "t_s": 4.096, "x_m": 0.9261357188224792, "y_m": 0.0001952664169948548, "z_m": -0.01729579083621502, "vx_m_s": 0.13623937964439392, "vy_m_s": -0.00022593094035983086, "vz_m_s": -0.01526640448719263, "tilt_rad": 0.08727138053378, "wheel_position_rad": [3.516728401184082, 3.5041069984436035, 3.5197691917419434, 3.5018868446350098], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9241189203010799, "forward_m_s": 0.13705150249522116, "normal_height_m": 0.06348807132876827, "ground_tilt_rad": 3.7118140492313576e-05}
{"seq": 256, "t_s": 4.112, "x_m": 0.9282975792884827, "y_m": 0.00020365645468700677, "z_m": -0.017501331865787506, "vx_m_s": 0.1342708170413971, "vy_m_s": -0.00017272471450269222, "vz_m_s": -0.013435401022434235, "tilt_rad": 0.08727138005950835, "wheel_position_rad": [3.516801357269287, 3.504164934158325, 3.519848108291626, 3.5019338130950928], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9262904683164243, "forward_m_s": 0.13493084840030947, "normal_height_m": 0.06347173099949918, "ground_tilt_rad": 6.443176463888256e-05}
{"seq": 257, "t_s": 4.128, "x_m": 0.9304277896881104, "y_m": 0.00019621399405878037, "z_m": -0.017673730850219727, "vx_m_s": 0.13234683871269226, "vy_m_s": -0.00022373488172888756, "vz_m_s": -0.015271568670868874, "tilt_rad": 0.08727137929275443, "wheel_position_rad": [3.516878604888916, 3.5042192935943604, 3.5199272632598877, 3.5019874572753906], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9284275981838903, "forward_m_s": 0.13317422394521886, "normal_height_m": 0.06348564811483973, "ground_tilt_rad": 3.5407090577748123e-05}
{"seq": 258, "t_s": 4.144, "x_m": 0.9325272440910339, "y_m": 0.0002043394197244197, "z_m": -0.017878862097859383, "vx_m_s": 0.13037657737731934, "vy_m_s": -0.00017249281518161297, "vz_m_s": -0.013373528607189655, "tilt_rad": 0.08727411154687358, "wheel_position_rad": [3.516956090927124, 3.5042724609375, 3.5200016498565674, 3.5020391941070557], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.930536941895217, "forward_m_s": 0.1310460349575504, "normal_height_m": 0.06346427696137981, "ground_tilt_rad": 6.30874303435704e-05}
{"seq": 259, "t_s": 4.16, "x_m": 0.9345951676368713, "y_m": 0.00019689984037540853, "z_m": -0.018049295991659164, "vx_m_s": 0.1284511238336563, "vy_m_s": -0.00022376002743840218, "vz_m_s": -0.01510697416961193, "tilt_rad": 0.08727411075940478, "wheel_position_rad": [3.517033576965332, 3.504326343536377, 3.52008056640625, 3.5020933151245117], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9326118506602428, "forward_m_s": 0.1292789880814369, "normal_height_m": 0.06347472303258417, "ground_tilt_rad": 3.743889690752525e-05}
{"seq": 260, "t_s": 4.176, "x_m": 0.936631977558136, "y_m": 0.00019924082153011113, "z_m": -0.018226083368062973, "vx_m_s": 0.12652328610420227, "vy_m_s": -0.00020812172442674637, "vz_m_s": -0.016631949692964554, "tilt_rad": 0.08727411014553473, "wheel_position_rad": [3.517110586166382, 3.5043797492980957, 3.5201563835144043, 3.5021450519561768], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9346563179399262, "forward_m_s": 0.12749139673098334, "normal_height_m": 0.06347612806704475, "ground_tilt_rad": 1.436398513451234e-05}
{"seq": 261, "t_s": 4.192, "x_m": 0.9386375546455383, "y_m": 0.00018836473464034498, "z_m": -0.018389489501714706, "vx_m_s": 0.12443588674068451, "vy_m_s": 0.00011214171536266804, "vz_m_s": -0.005335584282875061, "tilt_rad": 0.08727410926955846, "wheel_position_rad": [3.517188549041748, 3.504434108734131, 3.520237922668457, 3.5022010803222656], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9366685049839585, "forward_m_s": 0.12442739743458156, "normal_height_m": 0.06348814130375546, "ground_tilt_rad": 0.00015510256368862416}
{"seq": 262, "t_s": 4.208, "x_m": 0.940612256526947, "y_m": 0.00019100711506325752, "z_m": -0.01856503263115883, "vx_m_s": 0.1225108876824379, "vy_m_s": 0.0001337503781542182, "vz_m_s": -0.007119481917470694, "tilt_rad": 0.0872741086417169, "wheel_position_rad": [3.5172743797302246, 3.5044779777526855, 3.5203046798706055, 3.5022623538970947], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9386509921203606, "forward_m_s": 0.12266520050225364, "normal_height_m": 0.06348537277809617, "ground_tilt_rad": 0.00012684298270810185}
{"seq": 263, "t_s": 4.224, "x_m": 0.942555844783783, "y_m": 0.0001914141175802797, "z_m": -0.01875150017440319, "vx_m_s": 0.12056581676006317, "vy_m_s": 0.00013806787319481373, "vz_m_s": -0.007220005616545677, "tilt_rad": 0.08727410796412484, "wheel_position_rad": [3.5173535346984863, 3.5045297145843506, 3.5203793048858643, 3.502316951751709], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9406034361543237, "forward_m_s": 0.12073629237962816, "normal_height_m": 0.06346900967827011, "ground_tilt_rad": 0.00012682496917543808}
{"seq": 264, "t_s": 4.24, "x_m": 0.9444680213928223, "y_m": 0.00019523059017956257, "z_m": -0.018921125680208206, "vx_m_s": 0.11864519119262695, "vy_m_s": 0.00016333837993443012, "vz_m_s": -0.009324733167886734, "tilt_rad": 0.08727410734722331, "wheel_position_rad": [3.517430543899536, 3.504582405090332, 3.5204548835754395, 3.5023694038391113], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9425231201910111, "forward_m_s": 0.11900641446534732, "normal_height_m": 0.06346668682135154, "ground_tilt_rad": 8.378166984435521e-05}
{"seq": 265, "t_s": 4.256, "x_m": 0.9463489651679993, "y_m": 0.00020068231970071793, "z_m": -0.01908491551876068, "vx_m_s": 0.11673646420240402, "vy_m_s": 0.00019952584989368916, "vz_m_s": -0.012401629239320755, "tilt_rad": 0.08727410675648284, "wheel_position_rad": [3.5175070762634277, 3.50463604927063, 3.520531177520752, 3.5024213790893555], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9444111816322848, "forward_m_s": 0.11737311992004582, "normal_height_m": 0.0634674553043764, "ground_tilt_rad": 2.1017595290908095e-05}
{"seq": 266, "t_s": 4.272, "x_m": 0.948198676109314, "y_m": 0.00020746963855344802, "z_m": -0.0192433912307024, "vx_m_s": 0.1148373931646347, "vy_m_s": 0.0002443727571517229, "vz_m_s": -0.01626434549689293, "tilt_rad": 0.08727410618710786, "wheel_position_rad": [3.517585515975952, 3.5046896934509277, 3.5206069946289062, 3.502474069595337], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9462676659334065, "forward_m_s": 0.11581793332537259, "normal_height_m": 0.06347079557132249, "ground_tilt_rad": 6.165108692970365e-05}
{"seq": 267, "t_s": 4.288, "x_m": 0.9500172138214111, "y_m": 0.00021568856027442962, "z_m": -0.019394230097532272, "vx_m_s": 0.1127689778804779, "vy_m_s": -9.667105041444302e-05, "vz_m_s": -0.0063979472033679485, "tilt_rad": 0.08727410564176812, "wheel_position_rad": [3.517667293548584, 3.504746437072754, 3.5206832885742188, 3.5025265216827393], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9480924300339514, "forward_m_s": 0.11289747571432725, "normal_height_m": 0.06347902669693287, "ground_tilt_rad": 0.00016022573838149975}
{"seq": 268, "t_s": 4.304, "x_m": 0.9518048167228699, "y_m": 0.00021205317170824856, "z_m": -0.019563592970371246, "vx_m_s": 0.11084876954555511, "vy_m_s": -0.00013181846588850021, "vz_m_s": -0.00853087566792965, "tilt_rad": 0.08727410484431579, "wheel_position_rad": [3.5177438259124756, 3.5047998428344727, 3.520759105682373, 3.5025784969329834], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9498879915136542, "forward_m_s": 0.11117047131640208, "normal_height_m": 0.0634661081595716, "ground_tilt_rad": 0.000109177878489952}
{"seq": 269, "t_s": 4.32, "x_m": 0.9535610675811768, "y_m": 0.00020045501878485084, "z_m": -0.019705044105648994, "vx_m_s": 0.10897602140903473, "vy_m_s": -0.00021525705233216286, "vz_m_s": -0.014517635107040405, "tilt_rad": 0.08727137112100455, "wheel_position_rad": [3.517829656600952, 3.504842519760132, 3.520827054977417, 3.5026419162750244], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9516498875859762, "forward_m_s": 0.10982663001750653, "normal_height_m": 0.06347826263657579, "ground_tilt_rad": 4.326180762732096e-05}
{"seq": 270, "t_s": 4.336, "x_m": 0.9552861452102661, "y_m": 0.000191246421309188, "z_m": -0.019856054335832596, "vx_m_s": 0.1069120243191719, "vy_m_s": 0.000108094303868711, "vz_m_s": -0.005074170883744955, "tilt_rad": 0.0872741029258705, "wheel_position_rad": [3.5179073810577393, 3.504894495010376, 3.520906686782837, 3.5026986598968506], "contacts": 4, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9533815621826458, "forward_m_s": 0.10694743492121614, "normal_height_m": 0.06347817746796992, "ground_tilt_rad": 0.00016481790464315318}
{"seq": 271, "t_s": 4.352, "x_m": 0.9569801688194275, "y_m": 0.0001997260987991467, "z_m": -0.020016608759760857, "vx_m_s": 0.10500691086053848, "vy_m_s": 0.00017662206664681435, "vz_m_s": -0.00843693409115076, "tilt_rad": 0.08727410235739093, "wheel_position_rad": [3.51798415184021, 3.5049469470977783, 3.520981788635254, 3.502750873565674], "contacts": 8, "stop_requested": true, "brake_applied": true, "wheel_command_rad_s": 0.0, "along_m": 0.9550831327606034, "forward_m_s": 0.10534265511948826, "normal_height_m": 0.06346587788798595, "ground_tilt_rad": 6.293574538610155e-05}