{
  "schema": "dvidia.workstation-wasm-parity/v1",
  "valid": true,
  "error": null,
  "strict_parity_passed": false,
  "numerical_parity_passed": true,
  "active_contact_count_parity_passed": true,
  "engine": "3.15.0",
  "node": "v22.22.0",
  "platform": "darwin 25.5.0 arm64",
  "hardware": {
    "cpu": "Apple M5",
    "logical_cpus": 10,
    "total_memory_bytes": 25769803776
  },
  "native_scene_sha256": "3400d5e68731ce032358a538a67eb87e00a0613620553988d2f53c851641328b",
  "manifest_sha256": "f9d114ed584fbf3705210f9b9a165bffd530183cd586b9374bbaf458eb7718e6",
  "simulated_seconds": 30,
  "completed_steps": 15000,
  "compared_states": 1500,
  "maximum_absolute_errors": {
    "qpos": 9.731144922848835e-12,
    "qvel": 3.8673888598316294e-10,
    "ctrl": 6.217248937900877e-15,
    "tcp_position": 4.6226911187829955e-14,
    "shoe_position": 2.2426505097428162e-14
  },
  "thresholds": {
    "qpos": 0.000001,
    "qvel": 0.00001,
    "ctrl": 0.000001,
    "tcp_position": 0.000001,
    "shoe_position": 0.000001
  },
  "differing_contact_count_states": 13,
  "warnings": [],
  "differing_active_contact_count_states": 0,
  "active_contact_threshold_n": 0.001,
  "contact_differences": [
    {
      "completed_steps": 11750,
      "native_contacts": 6,
      "wasm_contacts": 4,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445635961,
        0.7288933921331793,
        0.6716454067315958,
        0.7423779565714804,
        3.830810889356533e-10,
        3.8308071465095777e-10
      ],
      "wasm_normal_forces_n": [
        0.8000832445635987,
        0.7288933921331803,
        0.6716454067315977,
        0.7423779565714818
      ]
    },
    {
      "completed_steps": 11770,
      "native_contacts": 4,
      "wasm_contacts": 6,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445644545,
        0.7288933921327212,
        0.6716454067320552,
        0.742377956570624
      ],
      "wasm_normal_forces_n": [
        0.8000832445644556,
        0.7288933921327219,
        0.6716454067320564,
        0.7423779565706238,
        3.4594514220690535e-10,
        3.459451496309187e-10
      ]
    },
    {
      "completed_steps": 11780,
      "native_contacts": 6,
      "wasm_contacts": 4,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445108848,
        0.7288933920883005,
        0.6716454067837099,
        0.74237795662287,
        4.4331207224126304e-10,
        4.4331071122603723e-10
      ],
      "wasm_normal_forces_n": [
        0.8000832445109425,
        0.7288933920883548,
        0.6716454067837647,
        0.742377956622927
      ]
    },
    {
      "completed_steps": 11800,
      "native_contacts": 4,
      "wasm_contacts": 6,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445139502,
        0.7288933920911472,
        0.6716454067805244,
        0.742377956620102
      ],
      "wasm_normal_forces_n": [
        0.8000832445138972,
        0.7288933920910945,
        0.671645406780482,
        0.7423779566200585,
        3.255204162286783e-10,
        3.255204413384372e-10
      ]
    },
    {
      "completed_steps": 11830,
      "native_contacts": 4,
      "wasm_contacts": 6,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445617654,
        0.7288933921312407,
        0.6716454067336384,
        0.7423779565732459
      ],
      "wasm_normal_forces_n": [
        0.8000832445617667,
        0.7288933921312415,
        0.6716454067336388,
        0.7423779565732455,
        3.159682620211949e-10,
        3.159694805374758e-10
      ]
    },
    {
      "completed_steps": 11840,
      "native_contacts": 6,
      "wasm_contacts": 4,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445179016,
        0.7288933920953597,
        0.6716454067754699,
        0.7423779566161501,
        3.532775701215907e-10,
        3.5327629064285304e-10
      ],
      "wasm_normal_forces_n": [
        0.800083244517888,
        0.7288933920953521,
        0.6716454067754717,
        0.7423779566161446
      ]
    },
    {
      "completed_steps": 11860,
      "native_contacts": 4,
      "wasm_contacts": 6,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445699162,
        0.7288933921408464,
        0.6716454067225768,
        0.7423779565653241
      ],
      "wasm_normal_forces_n": [
        0.8000832445699172,
        0.7288933921408467,
        0.6716454067225766,
        0.742377956565324,
        3.679197087540252e-10,
        3.6791921213804765e-10
      ]
    },
    {
      "completed_steps": 11880,
      "native_contacts": 6,
      "wasm_contacts": 4,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445682595,
        0.7288933921387551,
        0.6716454067247997,
        0.7423779565669064,
        2.4876498824827235e-10,
        2.487655553947641e-10
      ],
      "wasm_normal_forces_n": [
        0.8000832445682488,
        0.7288933921387422,
        0.6716454067247879,
        0.7423779565668964
      ]
    },
    {
      "completed_steps": 11890,
      "native_contacts": 6,
      "wasm_contacts": 4,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445606267,
        0.7288933921295637,
        0.6716454067353809,
        0.7423779565743258,
        3.1385942198854756e-10,
        3.1386022817808727e-10
      ],
      "wasm_normal_forces_n": [
        0.8000832445606241,
        0.7288933921295607,
        0.6716454067353784,
        0.7423779565743236
      ]
    },
    {
      "completed_steps": 11900,
      "native_contacts": 4,
      "wasm_contacts": 7,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445667738,
        0.7288933921375835,
        0.6716454067260956,
        0.7423779565683309
      ],
      "wasm_normal_forces_n": [
        0.8000832445667722,
        0.7288933921375802,
        0.6716454067260933,
        0.7423779565683295,
        2.2475837264682326e-10,
        2.2475836158404965e-10,
        2.2475912363392025e-10
      ]
    },
    {
      "completed_steps": 11940,
      "native_contacts": 7,
      "wasm_contacts": 4,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445769773,
        0.7288933921457501,
        0.6716454067176479,
        0.7423779565584847,
        1.852363640073478e-10,
        1.8523636648623732e-10,
        1.852363178644609e-10
      ],
      "wasm_normal_forces_n": [
        0.8000832445769684,
        0.7288933921457423,
        0.6716454067176398,
        0.7423779565584764
      ]
    },
    {
      "completed_steps": 11950,
      "native_contacts": 4,
      "wasm_contacts": 7,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445596447,
        0.7288933921284411,
        0.6716454067365546,
        0.7423779565752628
      ],
      "wasm_normal_forces_n": [
        0.8000832445596424,
        0.728893392128439,
        0.6716454067365529,
        0.7423779565752612,
        1.9803154576577385e-10,
        1.9803154522864342e-10,
        1.9803152187393563e-10
      ]
    },
    {
      "completed_steps": 12000,
      "native_contacts": 4,
      "wasm_contacts": 7,
      "native_active_contacts": 4,
      "wasm_active_contacts": 4,
      "native_normal_forces_n": [
        0.8000832445719441,
        0.72889339214139,
        0.6716454067223815,
        0.7423779565633684
      ],
      "wasm_normal_forces_n": [
        0.8000832445719441,
        0.7288933921413907,
        0.6716454067223819,
        0.7423779565633671,
        1.7399964369795556e-10,
        1.7399935598036122e-10,
        1.7400166283096515e-10
      ]
    }
  ],
  "wall_seconds": 2.0249365830000006,
  "real_time_factor": 14.815278785449248,
  "step_ms_p50": 0.04637499999989814,
  "step_ms_p95": 0.116916000000856,
  "step_ms_p99": 0.21720900000036636,
  "step_ms_max": 11.738417000000481,
  "control_ms_p95": 0.10116699999889534,
  "timing_window": "All 15,000 physics steps including startup; all 1,500 control updates. Comparison overhead included in wall time.",
  "process_memory": {
    "rss": 634224640,
    "heapTotal": 31014912,
    "heapUsed": 20039312,
    "external": 516579097,
    "arrayBuffers": 43611319
  },
  "trace": [
    {
      "completed_steps": 10,
      "tcp_position": [
        0.35999262957465045,
        -0.059888960816249885,
        0.26974788850125286
      ],
      "shoe_position": [
        0.32,
        -0.145,
        0.009841800000000001
      ],
      "contacts": 0,
      "active_contacts": 0,
      "tracking_error_m": 0.0661586094113637
    },
    {
      "completed_steps": 20,
      "tcp_position": [
        0.3600013702591739,
        -0.05902240956070924,
        0.2685004964528389
      ],
      "shoe_position": [
        0.32,
        -0.145,
        0.0037595999999999992
      ],
      "contacts": 0,
      "active_contacts": 0,
      "tracking_error_m": 0.06500660267129994
    },
    {
      "completed_steps": 30,
      "tcp_position": [
        0.36013210759864983,
        -0.05681096377056247,
        0.2662609755900673
      ],
      "shoe_position": [
        0.3199999915919376,
        -0.1450000189609006,
        -0.0031301854424312637
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.062342907216078346
    },
    {
      "completed_steps": 40,
      "tcp_position": [
        0.3605264560604458,
        -0.05293567182142931,
        0.26353574910621247
      ],
      "shoe_position": [
        0.31999997368896516,
        -0.1450000597633879,
        -0.0028682112511966575
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.05800535120674768
    },
    {
      "completed_steps": 50,
      "tcp_position": [
        0.3612321679796181,
        -0.047353808321323985,
        0.2606064370140753
      ],
      "shoe_position": [
        0.31999997520537615,
        -0.14500005652584103,
        -0.0016787653992701523
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0520299066634903
    },
    {
      "completed_steps": 60,
      "tcp_position": [
        0.36228457432989725,
        -0.0403660077896881,
        0.25764560464398345
      ],
      "shoe_position": [
        0.3199999782199961,
        -0.1450000497044101,
        -0.00089010668531857
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0447404309536933
    },
    {
      "completed_steps": 70,
      "tcp_position": [
        0.3636958086126615,
        -0.03234949998922989,
        0.2547959216175381
      ],
      "shoe_position": [
        0.3199999791433415,
        -0.14500004759365517,
        -0.00047089969056744523
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.03654199872078316
    },
    {
      "completed_steps": 80,
      "tcp_position": [
        0.3653902556635495,
        -0.023501725036385805,
        0.2521717549570539
      ],
      "shoe_position": [
        0.31999997853323325,
        -0.1450000489611914,
        -0.0002741181517636293
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.027757741782353615
    },
    {
      "completed_steps": 90,
      "tcp_position": [
        0.3671084386604867,
        -0.014502666183716421,
        0.249883477578776
      ],
      "shoe_position": [
        0.3199999778504439,
        -0.14500005051048043,
        -0.00018560741773546448
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.019404464890364632
    },
    {
      "completed_steps": 100,
      "tcp_position": [
        0.36861405735997693,
        -0.00663304508141788,
        0.2479937606198448
      ],
      "shoe_position": [
        0.31999997750633874,
        -0.14500005129589383,
        -0.00014497668536540313
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013328989958151481
    },
    {
      "completed_steps": 110,
      "tcp_position": [
        0.3698093829605801,
        -0.0005568294152955141,
        0.2465262225112707
      ],
      "shoe_position": [
        0.3199999773621647,
        -0.14500005162538424,
        -0.00012580624067256972
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010780810019801686
    },
    {
      "completed_steps": 120,
      "tcp_position": [
        0.3706993225658553,
        0.0036024900660416356,
        0.2454842747255272
      ],
      "shoe_position": [
        0.31999997730270113,
        -0.14500005176079783,
        -0.0001165793864739587
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010948621381911496
    },
    {
      "completed_steps": 130,
      "tcp_position": [
        0.3713389718099193,
        0.006036890796550672,
        0.24485113119534668
      ],
      "shoe_position": [
        0.31999997727700313,
        -0.14500005181890468,
        -0.0001120846548797317
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011745991221109552
    },
    {
      "completed_steps": 140,
      "tcp_position": [
        0.37179097773517467,
        0.0070902052623281085,
        0.24458103295043615
      ],
      "shoe_position": [
        0.3199999772652233,
        -0.14500005184531234,
        -0.00010988037708905506
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012125356122217693
    },
    {
      "completed_steps": 150,
      "tcp_position": [
        0.37211351705351936,
        0.0071498200801953776,
        0.2445850702221936
      ],
      "shoe_position": [
        0.31999997725955964,
        -0.14500005185790082,
        -0.000108795488272872
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011943115378445834
    },
    {
      "completed_steps": 160,
      "tcp_position": [
        0.37237715110658237,
        0.006668845322613151,
        0.2446962231782039
      ],
      "shoe_position": [
        0.3199999772567503,
        -0.14500005186409604,
        -0.00010826053099530232
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011432907406440386
    },
    {
      "completed_steps": 170,
      "tcp_position": [
        0.37261019973906156,
        0.0060814250730131655,
        0.24483097596553174
      ],
      "shoe_position": [
        0.3199999772553317,
        -0.14500005186720208,
        -0.00010799648660486458
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010877117645964371
    },
    {
      "completed_steps": 180,
      "tcp_position": [
        0.37281463725123765,
        0.005535175630473838,
        0.24496326260448248
      ],
      "shoe_position": [
        0.31999997725460866,
        -0.1450000518687747,
        -0.0001078660928631889
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010374793042894775
    },
    {
      "completed_steps": 190,
      "tcp_position": [
        0.3729911395521965,
        0.005053985529612953,
        0.2450849806510697
      ],
      "shoe_position": [
        0.3199999772542385,
        -0.1450000518695747,
        -0.0001078016825484822
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009941041681367243
    },
    {
      "completed_steps": 200,
      "tcp_position": [
        0.3731462709181024,
        0.004634570022450358,
        0.24519660925520675
      ],
      "shoe_position": [
        0.31999997725404866,
        -0.14500005186998238,
        -0.00010776986103712237
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009566891045068417
    },
    {
      "completed_steps": 210,
      "tcp_position": [
        0.3732932911485944,
        0.0042694073522755276,
        0.24530397342864102
      ],
      "shoe_position": [
        0.31999997725395124,
        -0.1450000518701903,
        -0.00010775413835396065
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009233658447013099
    },
    {
      "completed_steps": 220,
      "tcp_position": [
        0.37343647211052944,
        0.003951288763867803,
        0.24540903511320789
      ],
      "shoe_position": [
        0.31999997725390134,
        -0.14500005187029635,
        -0.00010774636944759201
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008931379503922338
    },
    {
      "completed_steps": 230,
      "tcp_position": [
        0.37357662885494985,
        0.003673845887752414,
        0.24551210700004392
      ],
      "shoe_position": [
        0.3199999772538758,
        -0.1450000518703504,
        -0.00010774253048428009
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00865436445113522
    },
    {
      "completed_steps": 240,
      "tcp_position": [
        0.3737139353448078,
        0.0034315680975728503,
        0.24561319355728478
      ],
      "shoe_position": [
        0.31999997725386276,
        -0.14500005187037793,
        -0.00010774063340412885
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008398472433924178
    },
    {
      "completed_steps": 250,
      "tcp_position": [
        0.37384844883052704,
        0.003219565672945423,
        0.24571225492904447
      ],
      "shoe_position": [
        0.3199999772538561,
        -0.14500005187039197,
        -0.00010773969589934781
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008160388636980237
    },
    {
      "completed_steps": 260,
      "tcp_position": [
        0.37398017761517466,
        0.00302987091138967,
        0.2458091804232781
      ],
      "shoe_position": [
        0.3199999772538527,
        -0.1450000518703991,
        -0.00010773923258401808
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007936078881233802
    },
    {
      "completed_steps": 270,
      "tcp_position": [
        0.37410913935942414,
        0.0028532766708445918,
        0.2459038355178495
      ],
      "shoe_position": [
        0.319999977253851,
        -0.14500005187040269,
        -0.00010773900360541534
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007721527718780992
    },
    {
      "completed_steps": 280,
      "tcp_position": [
        0.3742353968094548,
        0.0026872430322765523,
        0.24599623358799838
      ],
      "shoe_position": [
        0.3199999772538501,
        -0.14500005187040452,
        -0.00010773889043626063
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007515455444671027
    },
    {
      "completed_steps": 290,
      "tcp_position": [
        0.3743590058578866,
        0.002530891658846896,
        0.24608642870414876
      ],
      "shoe_position": [
        0.31999997725384954,
        -0.14500005187040543,
        -0.00010773883450222259
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00731725821519844
    },
    {
      "completed_steps": 300,
      "tcp_position": [
        0.3744800177261798,
        0.0023836413915589677,
        0.2461744821143214
      ],
      "shoe_position": [
        0.31999997725384943,
        -0.1450000518704059,
        -0.0001077388068557805
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007126467405418299
    },
    {
      "completed_steps": 310,
      "tcp_position": [
        0.3745984820714546,
        0.0022449735883441372,
        0.24626045424090343
      ],
      "shoe_position": [
        0.31999997725384943,
        -0.14500005187040618,
        -0.0001077387931905376
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006942658340228016
    },
    {
      "completed_steps": 320,
      "tcp_position": [
        0.37471443059724074,
        0.002114406020019179,
        0.24634438293016597
      ],
      "shoe_position": [
        0.3199999772537996,
        -0.14500005187047144,
        -0.00010773878609364586
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006765463242834163
    },
    {
      "completed_steps": 330,
      "tcp_position": [
        0.3748279035297335,
        0.0019914598312018913,
        0.2464263091360736
      ],
      "shoe_position": [
        0.3199999772536072,
        -0.1450000518707999,
        -0.00010773878246270829
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006594525043393564
    },
    {
      "completed_steps": 340,
      "tcp_position": [
        0.3749389718918108,
        0.0018756762950213005,
        0.24650631086280672
      ],
      "shoe_position": [
        0.3199999772534607,
        -0.14500005187105885,
        -0.00010773878086435143
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0064294658302947935
    },
    {
      "completed_steps": 350,
      "tcp_position": [
        0.37504769267022914,
        0.0017666376006100523,
        0.24658445107979157
      ],
      "shoe_position": [
        0.31999997725310864,
        -0.14500005187199808,
        -0.00010773878012471352
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006269954603243029
    },
    {
      "completed_steps": 360,
      "tcp_position": [
        0.3751541149340176,
        0.001663950864187075,
        0.24666078141197936
      ],
      "shoe_position": [
        0.31999997725299384,
        -0.14500005187240875,
        -0.0001077387798991289
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006115694182161377
    },
    {
      "completed_steps": 370,
      "tcp_position": [
        0.37525828496595354,
        0.0015672443182266327,
        0.24673534839902017
      ],
      "shoe_position": [
        0.3199999772527882,
        -0.14500005187331047,
        -0.00010773877979111725
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005966411508846511
    },
    {
      "completed_steps": 380,
      "tcp_position": [
        0.37536024784456007,
        0.0014761670215684818,
        0.2468081961279903
      ],
      "shoe_position": [
        0.31999997725269613,
        -0.14500005187396572,
        -0.00010773877977001874
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005821853750898596
    },
    {
      "completed_steps": 390,
      "tcp_position": [
        0.3754600478299768,
        0.0013903884090452111,
        0.24687936714609426
      ],
      "shoe_position": [
        0.31999997725263024,
        -0.14500005187447468,
        -0.00010773877977298748
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005681786254601785
    },
    {
      "completed_steps": 400,
      "tcp_position": [
        0.37555772844726865,
        0.0013095974166151,
        0.24694890276525194
      ],
      "shoe_position": [
        0.31999997725256146,
        -0.14500005187550474,
        -0.00010773877976254996
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005545991009521964
    },
    {
      "completed_steps": 410,
      "tcp_position": [
        0.3756533325034822,
        0.0012335014279505456,
        0.24701684317070705
      ],
      "shoe_position": [
        0.31999997725254264,
        -0.14500005187579354,
        -0.00010773877978167779
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005414265302531593
    },
    {
      "completed_steps": 420,
      "tcp_position": [
        0.3757469020920319,
        0.0011618251985584397,
        0.24708322746932648
      ],
      "shoe_position": [
        0.3199999772525195,
        -0.14500005187683976,
        -0.00010773877977309572
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005286420490507714
    },
    {
      "completed_steps": 430,
      "tcp_position": [
        0.3758384785953279,
        0.0010943098185675713,
        0.24714809372023538
      ],
      "shoe_position": [
        0.3199999772525159,
        -0.14500005187700635,
        -0.0001077387797929069
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005162280872745936
    },
    {
      "completed_steps": 440,
      "tcp_position": [
        0.37592810268764204,
        0.0010307117317798333,
        0.24721147896080387
      ],
      "shoe_position": [
        0.31999997725252743,
        -0.14500005187805376,
        -0.00010773877978363118
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0050416826538821425
    },
    {
      "completed_steps": 450,
      "tcp_position": [
        0.3760158143385045,
        0.0009708018131703133,
        0.24727341923178792
      ],
      "shoe_position": [
        0.3199999772525579,
        -0.1450000518788767,
        -0.00010773877978153411
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004924472990209722
    },
    {
      "completed_steps": 460,
      "tcp_position": [
        0.37610165281665664,
        0.0009143645025031252,
        0.24733394960259067
      ],
      "shoe_position": [
        0.3199999772525838,
        -0.14500005187952217,
        -0.00010773877978628408
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004810509113061256
    },
    {
      "completed_steps": 470,
      "tcp_position": [
        0.3761856566945358,
        0.0008611969907463123,
        0.2473931041967864
      ],
      "shoe_position": [
        0.3199999772526368,
        -0.1450000518803019,
        -0.00010773877978680676
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004699657523439641
    },
    {
      "completed_steps": 480,
      "tcp_position": [
        0.3762678638532595,
        0.0008111084559774101,
        0.2474509162177892
      ],
      "shoe_position": [
        0.3199999772526663,
        -0.14500005188072165,
        -0.00010773877979617185
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004591793252520769
    },
    {
      "completed_steps": 490,
      "tcp_position": [
        0.3763483114880807,
        0.0007639193456711711,
        0.2475074179745272
      ],
      "shoe_position": [
        0.3199999772527699,
        -0.1450000518817562,
        -0.00010773877979018516
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00448679918299052
    },
    {
      "completed_steps": 500,
      "tcp_position": [
        0.3764270361142795,
        0.0007194607024917168,
        0.2475626409069745
      ],
      "shoe_position": [
        0.31999997725279944,
        -0.14500005188204798,
        -0.00010773877980163745
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0043845654265214
    },
    {
      "completed_steps": 510,
      "tcp_position": [
        0.37650407357345983,
        0.0006775735309089679,
        0.2476166156114156
      ],
      "shoe_position": [
        0.319999977252934,
        -0.14500005188308365,
        -0.00010773877979662933
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0042849887529978715
    },
    {
      "completed_steps": 520,
      "tcp_position": [
        0.37657945904021634,
        0.0006381082021354491,
        0.24766937186534146
      ],
      "shoe_position": [
        0.3199999772529625,
        -0.14500005188330217,
        -0.00010773877980759507
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0041879720673915965
    },
    {
      "completed_steps": 530,
      "tcp_position": [
        0.3766532270263737,
        0.0006009240215225861,
        0.24772093864532402
      ],
      "shoe_position": [
        0.319999977253133,
        -0.14500005188439943,
        -0.00010773877980194065
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0040934239549569925
    },
    {
      "completed_steps": 540,
      "tcp_position": [
        0.3767254113939705,
        0.0005658883224421278,
        0.24777134416844743
      ],
      "shoe_position": [
        0.31999997725316026,
        -0.1450000518845747,
        -0.00010773877981189932
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004001258170591852
    },
    {
      "completed_steps": 550,
      "tcp_position": [
        0.3767960453580556,
        0.0005328764156095991,
        0.24782061589759463
      ],
      "shoe_position": [
        0.31999997725332313,
        -0.1450000518855058,
        -0.00010773877980855329
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003911393317958094
    },
    {
      "completed_steps": 560,
      "tcp_position": [
        0.37686516150044813,
        0.0005017708176326195,
        0.24786878057676592
      ],
      "shoe_position": [
        0.31999997725334917,
        -0.14500005188565462,
        -0.00010773877981648334
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003823752424212443
    },
    {
      "completed_steps": 570,
      "tcp_position": [
        0.3769327917723415,
        0.00047246098595670464,
        0.24791586424649853
      ],
      "shoe_position": [
        0.3199999772535045,
        -0.1450000518864786,
        -0.00010773877981355474
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003738262635782867
    },
    {
      "completed_steps": 580,
      "tcp_position": [
        0.3769989675037898,
        0.0004448428577740243,
        0.24796189226637663
      ],
      "shoe_position": [
        0.3199999772535293,
        -0.1450000518866104,
        -0.00010773877981977232
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003654854900714604
    },
    {
      "completed_steps": 590,
      "tcp_position": [
        0.3770637194120357,
        0.00041881846966596644,
        0.24800688933575485
      ],
      "shoe_position": [
        0.3199999772537231,
        -0.14500005188759488,
        -0.00010773877981440784
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003573463686917369
    },
    {
      "completed_steps": 600,
      "tcp_position": [
        0.3771270776103075,
        0.00039429559097643296,
        0.24805087951413418
      ],
      "shoe_position": [
        0.3199999772537468,
        -0.1450000518877152,
        -0.000107738779820438
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003494026722662797
    },
    {
      "completed_steps": 610,
      "tcp_position": [
        0.3771890716164854,
        0.00037118738473053653,
        0.24809388624075107
      ],
      "shoe_position": [
        0.3199999772539315,
        -0.14500005188863013,
        -0.00010773877981592637
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0034164847599585718
    },
    {
      "completed_steps": 620,
      "tcp_position": [
        0.377249730361915,
        0.0003494120879315249,
        0.24813593235350723
      ],
      "shoe_position": [
        0.3199999772539541,
        -0.14500005188874196,
        -0.00010773877982148808
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0033407813577164816
    },
    {
      "completed_steps": 630,
      "tcp_position": [
        0.3773090822002988,
        0.00032889271103122425,
        0.24817704010724867
      ],
      "shoe_position": [
        0.31999997725413015,
        -0.1450000518896009,
        -0.00010773877981735749
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003266862683171456
    },
    {
      "completed_steps": 640,
      "tcp_position": [
        0.3773671549166502,
        0.0003095567555597424,
        0.24821723119139966
      ],
      "shoe_position": [
        0.3199999772541517,
        -0.14500005188970594,
        -0.0001077387798224305
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0031946773299897273
    },
    {
      "completed_steps": 650,
      "tcp_position": [
        0.37742397573630054,
        0.00029133594849675725,
        0.24825652674698323
      ],
      "shoe_position": [
        0.3199999772543195,
        -0.14500005189051746,
        -0.00010773877981849036
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00312417615157016
    },
    {
      "completed_steps": 660,
      "tcp_position": [
        0.3774795713339289,
        0.000274165992646047,
        0.2482949473830367
      ],
      "shoe_position": [
        0.31999997725434,
        -0.1450000518906167,
        -0.00010773877982316431
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003055312108261603
    },
    {
      "completed_steps": 670,
      "tcp_position": [
        0.37753396784260546,
        0.0002579863319834067,
        0.2483325131924461
      ],
      "shoe_position": [
        0.3199999772545477,
        -0.14500005189161735,
        -0.00010773877981729435
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0029880401272674687
    },
    {
      "completed_steps": 680,
      "tcp_position": [
        0.3775871908628346,
        0.00024273993106154701,
        0.24836924376721065
      ],
      "shoe_position": [
        0.3199999772545673,
        -0.1450000518917115,
        -0.00010773877982251482
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002922316974132334
    },
    {
      "completed_steps": 690,
      "tcp_position": [
        0.3776392654715878,
        0.00022837306761420777,
        0.2484051582131671
      ],
      "shoe_position": [
        0.3199999772547652,
        -0.14500005189266293,
        -0.00010773877981746768
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002858101134788151
    },
    {
      "completed_steps": 700,
      "tcp_position": [
        0.3776902162313128,
        0.00021483513756025399,
        0.24844027516418207
      ],
      "shoe_position": [
        0.31999997725478385,
        -0.14500005189275245,
        -0.00010773877982269996
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0027953527072426014
    },
    {
      "completed_steps": 710,
      "tcp_position": [
        0.3777400671989082,
        0.00020207847167948108,
        0.2484746127958391
      ],
      "shoe_position": [
        0.3199999772549724,
        -0.14500005189365742,
        -0.00010773877981807867
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002734033302062149
    },
    {
      "completed_steps": 720,
      "tcp_position": [
        0.3777888419346599,
        0.00019005816312621057,
        0.24850818883863923
      ],
      "shoe_position": [
        0.3199999772549902,
        -0.14500005189374257,
        -0.00010773877982311609
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0026741059508647194
    },
    {
      "completed_steps": 730,
      "tcp_position": [
        0.37783656351111783,
        0.00017873190535449548,
        0.24854102059072794
      ],
      "shoe_position": [
        0.31999997725516993,
        -0.14500005189460397,
        -0.00010773877981878733
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0026155350221509807
    },
    {
      "completed_steps": 740,
      "tcp_position": [
        0.37788325452191784,
        0.00016805983962420157,
        0.24857312493017247
      ],
      "shoe_position": [
        0.3199999772551869,
        -0.14500005189468504,
        -0.00010773877982357905
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0025582861438023497
    },
    {
      "completed_steps": 750,
      "tcp_position": [
        0.37792893709053604,
        0.00015800441158424807,
        0.2486045183268037
      ],
      "shoe_position": [
        0.3199999772553583,
        -0.1450000518955053,
        -0.00010773877981945444
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002502326131675122
    },
    {
      "completed_steps": 760,
      "tcp_position": [
        0.37797363287896724,
        0.00014853023638736087,
        0.24863521685364592
      ],
      "shoe_position": [
        0.31999997725542195,
        -0.14500005189581042,
        -0.00010773877982135368
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002447622923756036
    },
    {
      "completed_steps": 770,
      "tcp_position": [
        0.37801736309632417,
        0.00013960397181344935,
        0.2486652361979414
      ],
      "shoe_position": [
        0.31999997725558527,
        -0.14500005189659262,
        -0.0001077387798181075
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0023941455193971276
    },
    {
      "completed_steps": 780,
      "tcp_position": [
        0.378060148507349,
        0.00013119419892018054,
        0.24869459167179714
      ],
      "shoe_position": [
        0.31999997725564605,
        -0.1450000518968835,
        -0.00010773877982073135
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0023418639231842873
    },
    {
      "completed_steps": 790,
      "tcp_position": [
        0.37810200944083755,
        0.0001232713097665384,
        0.2487232982224617
      ],
      "shoe_position": [
        0.3199999772558017,
        -0.14500005189762907,
        -0.00010773877981815051
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002290749093037216
    },
    {
      "completed_steps": 800,
      "tcp_position": [
        0.37814296579796297,
        0.00011580740178769521,
        0.2487513704422499
      ],
      "shoe_position": [
        0.31999997725585955,
        -0.14500005189790618,
        -0.0001077387798209493
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0022407728921805844
    },
    {
      "completed_steps": 810,
      "tcp_position": [
        0.37818303706050727,
        0.00010877617841627041,
        0.24877882257813377
      ],
      "shoe_position": [
        0.3199999772560078,
        -0.1450000518986164,
        -0.0001077387798186695
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021919080446398263
    },
    {
      "completed_steps": 820,
      "tcp_position": [
        0.3782222422989823,
        0.00010215285558084313,
        0.248805668541004
      ],
      "shoe_position": [
        0.31999997725606294,
        -0.14500005189888035,
        -0.00010773877982141715
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002144128093976314
    },
    {
      "completed_steps": 830,
      "tcp_position": [
        0.37826060018065283,
        0.00009591407372542514,
        0.2488319219146291
      ],
      "shoe_position": [
        0.31999997725620427,
        -0.14500005189955686,
        -0.00010773877981929644
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020974073649645
    },
    {
      "completed_steps": 840,
      "tcp_position": [
        0.3782981289774454,
        0.000090037815019608,
        0.24885759596431128
      ],
      "shoe_position": [
        0.3199999772562569,
        -0.14500005189980836,
        -0.00010773877982192626
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002051720927977871
    },
    {
      "completed_steps": 850,
      "tcp_position": [
        0.37833484657375216,
        0.00008450332545108285,
        0.24888270364526244
      ],
      "shoe_position": [
        0.3199999772563916,
        -0.14500005190045293,
        -0.00010773877981991257
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020070445658398007
    },
    {
      "completed_steps": 860,
      "tcp_position": [
        0.3783707704741174,
        0.00007929104150492487,
        0.24890725761070437
      ],
      "shoe_position": [
        0.31999997725648904,
        -0.14500005190091972,
        -0.00010773877981979136
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0019633547429423405
    },
    {
      "completed_steps": 870,
      "tcp_position": [
        0.378405917810815,
        0.00007438252115772458,
        0.24893127021971026
      ],
      "shoe_position": [
        0.3199999772566174,
        -0.14500005190153448,
        -0.00010773877981864544
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001920628576432406
    },
    {
      "completed_steps": 880,
      "tcp_position": [
        0.378440305351307,
        0.00006976037892865997,
        0.24895475354479474
      ],
      "shoe_position": [
        0.31999997725671037,
        -0.14500005190197945,
        -0.00010773877981931205
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001878843809301077
    },
    {
      "completed_steps": 890,
      "tcp_position": [
        0.37847394950559055,
        0.00006540822474561628,
        0.24897771937926108
      ],
      "shoe_position": [
        0.31999997725683266,
        -0.14500005190256549,
        -0.00010773877981870213
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018379787852121899
    },
    {
      "completed_steps": 900,
      "tcp_position": [
        0.3785068663334227,
        0.00006131060639732529,
        0.24900017924432202
      ],
      "shoe_position": [
        0.3199999772569212,
        -0.14500005190298942,
        -0.00010773877981961774
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017980124249314703
    },
    {
      "completed_steps": 910,
      "tcp_position": [
        0.3785390715514345,
        0.0000574529553597553,
        0.2490221443959968
      ],
      "shoe_position": [
        0.31999997725703777,
        -0.14500005190354773,
        -0.00010773877981919296
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017589242042191642
    },
    {
      "completed_steps": 920,
      "tcp_position": [
        0.37857058054012205,
        0.00005382153579583345,
        0.24904362583179596
      ],
      "shoe_position": [
        0.3199999772571222,
        -0.1450000519039516,
        -0.0001077387798201488
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017206941330757154
    },
    {
      "completed_steps": 930,
      "tcp_position": [
        0.37860140835072403,
        0.00005040339653844183,
        0.24906463429720394
      ],
      "shoe_position": [
        0.31999997725723334,
        -0.14500005190448342,
        -0.00010773877981979102
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016833027362225335
    },
    {
      "completed_steps": 940,
      "tcp_position": [
        0.37863156971197887,
        0.00004718632588245426,
        0.24908518029196353
      ],
      "shoe_position": [
        0.3199999772573138,
        -0.1450000519048682,
        -0.00010773877982072198
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016467310347278454
    },
    {
      "completed_steps": 950,
      "tcp_position": [
        0.37866107903676943,
        0.00004415880901019805,
        0.24910527407617386
      ],
      "shoe_position": [
        0.31999997725741963,
        -0.14500005190537488,
        -0.00010773877982039293
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016109605286778509
    },
    {
      "completed_steps": 960,
      "tcp_position": [
        0.37868995042864145,
        0.00004130998885738112,
        0.24912492567616903
      ],
      "shoe_position": [
        0.3199999772575435,
        -0.14500005190596776,
        -0.00010773877981869735
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015759731808709001
    },
    {
      "completed_steps": 970,
      "tcp_position": [
        0.3787181976882396,
        0.00003862962534380091,
        0.2491441448903614
      ],
      "shoe_position": [
        0.31999997725764434,
        -0.14500005190645104,
        -0.00010773877981920447
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015417514011937786
    },
    {
      "completed_steps": 980,
      "tcp_position": [
        0.3787458343195423,
        0.00003610806322436447,
        0.24916294129473707
      ],
      "shoe_position": [
        0.3199999772577623,
        -0.14500005190701631,
        -0.0001077387798183275
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015082780321692172
    },
    {
      "completed_steps": 990,
      "tcp_position": [
        0.37877287353609596,
        0.00003373619704376522,
        0.24918132424828657
      ],
      "shoe_position": [
        0.3199999772578585,
        -0.145000051907477,
        -0.0001077387798192615
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014755363349806688
    },
    {
      "completed_steps": 1000,
      "tcp_position": [
        0.378799328267063,
        0.00003150543984355724,
        0.24919930289826336
      ],
      "shoe_position": [
        0.319999977257971,
        -0.14500005190801551,
        -0.0001077387798187042
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014435099763227123
    },
    {
      "completed_steps": 1010,
      "tcp_position": [
        0.3788252111631751,
        0.000029407693458832246,
        0.2492168861852957
      ],
      "shoe_position": [
        0.31999997725806273,
        -0.14500005190845444,
        -0.00010773877981974395
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014121830158813548
    },
    {
      "completed_steps": 1020,
      "tcp_position": [
        0.3788505346025709,
        0.000027435320534159393,
        0.24923408284835352
      ],
      "shoe_position": [
        0.31999997725817,
        -0.14500005190896742,
        -0.00010773877981929276
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013815398944243044
    },
    {
      "completed_steps": 1030,
      "tcp_position": [
        0.37887531069653013,
        0.000025581118161721718,
        0.249250901429578
      ],
      "shoe_position": [
        0.3199999772582574,
        -0.14500005190938553,
        -0.00010773877982032182
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001351565422446957
    },
    {
      "completed_steps": 1040,
      "tcp_position": [
        0.3788995512950924,
        0.000023838293047489986,
        0.24926735027897717
      ],
      "shoe_position": [
        0.3199999772583595,
        -0.14500005190987428,
        -0.00010773877981990478
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001322244769346083
    },
    {
      "completed_steps": 1050,
      "tcp_position": [
        0.3789232679925731,
        0.000022200438109554092,
        0.24928343755898918
      ],
      "shoe_position": [
        0.31999997725844276,
        -0.14500005191027263,
        -0.00010773877982088962
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012935634530772862
    },
    {
      "completed_steps": 1060,
      "tcp_position": [
        0.37894647213296895,
        0.00002066151043875337,
        0.2492991712489251
      ],
      "shoe_position": [
        0.319999977258587,
        -0.14500005191096374,
        -0.00010773877981796772
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012655073302663396
    },
    {
      "completed_steps": 1070,
      "tcp_position": [
        0.3789691748152597,
        0.00001921581052554412,
        0.24931455914929224
      ],
      "shoe_position": [
        0.3199999772586663,
        -0.14500005191134363,
        -0.00010773877981976039
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012380625867410712
    },
    {
      "completed_steps": 1080,
      "tcp_position": [
        0.3789913868986049,
        0.000017857962687153974,
        0.24932960888599734
      ],
      "shoe_position": [
        0.31999997725880386,
        -0.1450000519120025,
        -0.00010773877981769187
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012112157284608382
    },
    {
      "completed_steps": 1090,
      "tcp_position": [
        0.3790131190074404,
        0.00001658289662438702,
        0.24934432791444172
      ],
      "shoe_position": [
        0.3199999772588795,
        -0.14500005191236467,
        -0.00010773877981983175
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011849535728104478
    },
    {
      "completed_steps": 1100,
      "tcp_position": [
        0.37903438153647,
        0.000015385830036599602,
        0.2493587235235053
      ],
      "shoe_position": [
        0.31999997725901075,
        -0.14500005191299237,
        -0.00010773877981813393
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011592632402441644
    },
    {
      "completed_steps": 1110,
      "tcp_position": [
        0.37905518465556304,
        0.000014262252235195153,
        0.24937280283942997
      ],
      "shoe_position": [
        0.31999997725908286,
        -0.14500005191333737,
        -0.00010773877982030863
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011341321462464003
    },
    {
      "completed_steps": 1120,
      "tcp_position": [
        0.37907553831454743,
        0.00001320790870899715,
        0.2493865728295968
      ],
      "shoe_position": [
        0.31999997725920776,
        -0.1450000519139353,
        -0.00010773877981875424
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011095479936042152
    },
    {
      "completed_steps": 1130,
      "tcp_position": [
        0.3790954522479102,
        0.00001221878656895046,
        0.24940004030620944
      ],
      "shoe_position": [
        0.3199999772592764,
        -0.14500005191426393,
        -0.0001077387798208546
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010854987649597846
    },
    {
      "completed_steps": 1140,
      "tcp_position": [
        0.379114935979403,
        0.00001129110082851964,
        0.2494132119298796
      ],
      "shoe_position": [
        0.3199999772594445,
        -0.14500005191506923,
        -0.00010773877981681853
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010619727156329774
    },
    {
      "completed_steps": 1150,
      "tcp_position": [
        0.37913399882655274,
        0.000010421281471303493,
        0.2494260942131245
      ],
      "shoe_position": [
        0.3199999772595099,
        -0.14500005191538268,
        -0.00010773877981974126
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001038958366696529
    },
    {
      "completed_steps": 1160,
      "tcp_position": [
        0.3791526499050799,
        0.000009605961260097783,
        0.24943869352377157
      ],
      "shoe_position": [
        0.3199999772596701,
        -0.14500005191615037,
        -0.00010773877981661615
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010164444982923577
    },
    {
      "completed_steps": 1170,
      "tcp_position": [
        0.3791708981332281,
        0.000008841964241946382,
        0.24945101608827905
      ],
      "shoe_position": [
        0.31999997725973245,
        -0.14500005191644913,
        -0.00010773877981982795
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009944201431712825
    },
    {
      "completed_steps": 1180,
      "tcp_position": [
        0.37918875223600257,
        0.000008126294911775268,
        0.2494630679949735
      ],
      "shoe_position": [
        0.3199999772598851,
        -0.1450000519171805,
        -0.00010773877981711409
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009728745804478636
    },
    {
      "completed_steps": 1190,
      "tcp_position": [
        0.3792062207493242,
        0.000007456127995031169,
        0.2494748551972059
      ],
      "shoe_position": [
        0.31999997725994456,
        -0.14500005191746515,
        -0.00010773877982030161
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009517973295559119
    },
    {
      "completed_steps": 1200,
      "tcp_position": [
        0.37922331202409454,
        0.000006828798812210465,
        0.24948638351642838
      ],
      "shoe_position": [
        0.3199999772600901,
        -0.14500005191816184,
        -0.00010773877981778992
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009311781443987101
    },
    {
      "completed_steps": 1210,
      "tcp_position": [
        0.3792400342301779,
        0.000006241794194688633,
        0.24949765864519607
      ],
      "shoe_position": [
        0.31999997726014673,
        -0.145000051918433,
        -0.00010773877982085537
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009110070076801529
    },
    {
      "completed_steps": 1220,
      "tcp_position": [
        0.3792563953603011,
        0.000005692743917027247,
        0.2495086861500956
      ],
      "shoe_position": [
        0.3199999772602854,
        -0.1450000519190967,
        -0.00010773877981847443
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008912741254086364
    },
    {
      "completed_steps": 1230,
      "tcp_position": [
        0.3792724032338717,
        0.000005179412617097771,
        0.24951947147460019
      ],
      "shoe_position": [
        0.31999997726033935,
        -0.14500005191935497,
        -0.00010773877982139751
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008719699215674669
    },
    {
      "completed_steps": 1240,
      "tcp_position": [
        0.3792880655007149,
        0.000004699692176849353,
        0.24953001994185597
      ],
      "shoe_position": [
        0.3199999772605203,
        -0.145000051920222,
        -0.0001077387798166477
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008530850329433291
    },
    {
      "completed_steps": 1250,
      "tcp_position": [
        0.3793033896447347,
        0.000004251594535108428,
        0.2495403367574009
      ],
      "shoe_position": [
        0.3199999772605718,
        -0.14500005192046833,
        -0.00010773877982035284
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008346103041034592
    },
    {
      "completed_steps": 1260,
      "tcp_position": [
        0.3793183829874958,
        0.000003833244908902603,
        0.24955042701181768
      ],
      "shoe_position": [
        0.31999997726074436,
        -0.14500005192129492,
        -0.0001077387798165195
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008165367825180006
    },
    {
      "completed_steps": 1270,
      "tcp_position": [
        0.379333052691731,
        0.0000034428754003464604,
        0.2495602956833241
      ],
      "shoe_position": [
        0.3199999772607934,
        -0.1450000519215298,
        -0.00010773877982045045
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007988557138192689
    },
    {
      "completed_steps": 1280,
      "tcp_position": [
        0.37934740576477527,
        0.000003078818964650925,
        0.24956994764029855
      ],
      "shoe_position": [
        0.3199999772609578,
        -0.14500005192231727,
        -0.00010773877981704428
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007815585371931897
    },
    {
      "completed_steps": 1290,
      "tcp_position": [
        0.3793614490619261,
        0.0000027395037212286235,
        0.2495793876437487
      ],
      "shoe_position": [
        0.3199999772610045,
        -0.14500005192254103,
        -0.0001077387798209039
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007646368808964005
    },
    {
      "completed_steps": 1300,
      "tcp_position": [
        0.37937518928973263,
        0.000002423447586668136,
        0.24958862034971804
      ],
      "shoe_position": [
        0.3199999772611612,
        -0.1450000519232912,
        -0.00010773877981771953
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007480825578966089
    },
    {
      "completed_steps": 1310,
      "tcp_position": [
        0.37938863300921755,
        0.0000021292532111483984,
        0.24959765031163905
      ],
      "shoe_position": [
        0.31999997726120566,
        -0.1450000519235043,
        -0.00010773877982142185
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007318875616252727
    },
    {
      "completed_steps": 1320,
      "tcp_position": [
        0.379401786639027,
        0.0000018556032007987193,
        0.2496064819826273
      ],
      "shoe_position": [
        0.3199999772613551,
        -0.145000051924219,
        -0.00010773877981840134
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007160440618472963
    },
    {
      "completed_steps": 1330,
      "tcp_position": [
        0.3794146564585139,
        0.0000016012556115334404,
        0.2496151197177246
      ],
      "shoe_position": [
        0.31999997726139756,
        -0.14500005192442203,
        -0.00010773877982193327
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007005444006366828
    },
    {
      "completed_steps": 1340,
      "tcp_position": [
        0.3794272486107595,
        0.0000013650396957897923,
        0.24962356777608724
      ],
      "shoe_position": [
        0.31999997726158863,
        -0.14500005192533677,
        -0.00010773877981668297
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006853810884538706
    },
    {
      "completed_steps": 1350,
      "tcp_position": [
        0.3794395691055249,
        0.0000011458518912204712,
        0.24963183032312528
      ],
      "shoe_position": [
        0.3199999772616291,
        -0.14500005192553042,
        -0.00010773877982096182
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000670546800326989
    },
    {
      "completed_steps": 1360,
      "tcp_position": [
        0.3794516238221439,
        9.426520302864735e-7,
        0.24963991143258923
      ],
      "shoe_position": [
        0.3199999772618112,
        -0.1450000519264024,
        -0.00010773877981659048
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006560343721275823
    },
    {
      "completed_steps": 1370,
      "tcp_position": [
        0.37946341851235144,
        7.544597725555235e-7,
        0.2496478150886115
      ],
      "shoe_position": [
        0.3199999772618497,
        -0.14500005192658696,
        -0.00010773877982104411
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000641836796940175
    },
    {
      "completed_steps": 1380,
      "tcp_position": [
        0.3794749588030526,
        5.803512309810292e-7,
        0.24965554518769706
      ],
      "shoe_position": [
        0.3199999772620231,
        -0.14500005192741772,
        -0.00010773877981712929
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006279472215227736
    },
    {
      "completed_steps": 1390,
      "tcp_position": [
        0.3794862501990313,
        4.194557903891031e-7,
        0.24966310554067217
      ],
      "shoe_position": [
        0.3199999772620598,
        -0.14500005192759355,
        -0.00010773877982148047
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006143589428537014
    },
    {
      "completed_steps": 1400,
      "tcp_position": [
        0.37949729808560173,
        2.70953104346692e-7,
        0.24967049987458398
      ],
      "shoe_position": [
        0.3199999772622251,
        -0.1450000519283849,
        -0.00010773877981781792
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00060106540476428
    },
    {
      "completed_steps": 1410,
      "tcp_position": [
        0.37950810773120247,
        1.3407026150889287e-7,
        0.24967773183456074
      ],
      "shoe_position": [
        0.31999997726226015,
        -0.14500005192855242,
        -0.00010773877982198306
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005880601946511993
    },
    {
      "completed_steps": 1420,
      "tcp_position": [
        0.37951868428993457,
        8.07911126538316e-9,
        0.24968480498562504
      ],
      "shoe_position": [
        0.31999997726241775,
        -0.1450000519293064,
        -0.0001077387798185039
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005753370402710899
    },
    {
      "completed_steps": 1430,
      "tcp_position": [
        0.379529032804045,
        -1.077062608604348e-7,
        0.24969172281446805
      ],
      "shoe_position": [
        0.31999997726245116,
        -0.14500005192946602,
        -0.00010773877982247269
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000562889806610379
    },
    {
      "completed_steps": 1440,
      "tcp_position": [
        0.37953915820635725,
        -2.1393191588333468e-7,
        0.24969848873118483
      ],
      "shoe_position": [
        0.31999997726264967,
        -0.1450000519304172,
        -0.00010773877981688231
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005507124928283965
    },
    {
      "completed_steps": 1450,
      "tcp_position": [
        0.3795490653226484,
        -3.112063096110974e-7,
        0.24970510607096535
      ],
      "shoe_position": [
        0.3199999772626815,
        -0.1450000519305694,
        -0.00010773877982156082
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005387992292765728
    },
    {
      "completed_steps": 1460,
      "tcp_position": [
        0.3795587588739767,
        -4.00102415260149e-7,
        0.24971157809575206
      ],
      "shoe_position": [
        0.3199999772628707,
        -0.14500005193147614,
        -0.00010773877981683254
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005271442745835762
    },
    {
      "completed_steps": 1470,
      "tcp_position": [
        0.3795682434789552,
        -4.811597277609675e-7,
        0.24971790799585658
      ],
      "shoe_position": [
        0.31999997726290097,
        -0.14500005193162124,
        -0.00010773877982164486
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005157420128136392
    },
    {
      "completed_steps": 1480,
      "tcp_position": [
        0.3795775236559808,
        -5.548861543719524e-7,
        0.2497240988915426
      ],
      "shoe_position": [
        0.3199999772630814,
        -0.14500005193248508,
        -0.00010773877981736651
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005045869506859093
    },
    {
      "completed_steps": 1490,
      "tcp_position": [
        0.37958660382541287,
        -6.217598004394987e-7,
        0.24973015383456826
      ],
      "shoe_position": [
        0.3199999772631102,
        -0.14500005193262333,
        -0.00010773877982205222
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004936737148631065
    },
    {
      "completed_steps": 1500,
      "tcp_position": [
        0.37959548831170337,
        -6.82230654073506e-7,
        0.24973607580970014
      ],
      "shoe_position": [
        0.31999997726328205,
        -0.14500005193344623,
        -0.00010773877981804269
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004829970493001976
    },
    {
      "completed_steps": 1510,
      "tcp_position": [
        0.37938058492764987,
        -0.000099440080199933,
        0.24967927943979223
      ],
      "shoe_position": [
        0.3199999772633096,
        -0.14500005193357793,
        -0.00010773877982252584
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.14272431096729232
    },
    {
      "completed_steps": 1520,
      "tcp_position": [
        0.3783160167179539,
        -0.0009746369786765935,
        0.24952992776713756
      ],
      "shoe_position": [
        0.3199999772634735,
        -0.1450000519343619,
        -0.00010773877981871652
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.14149561333421032
    },
    {
      "completed_steps": 1530,
      "tcp_position": [
        0.3760291893716112,
        -0.0032896720501530054,
        0.24941624141256913
      ],
      "shoe_position": [
        0.3199999772634998,
        -0.14500005193448734,
        -0.0001077387798229896
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.13857321395979103
    },
    {
      "completed_steps": 1540,
      "tcp_position": [
        0.37254555844043585,
        -0.007378268122115534,
        0.24908547022361893
      ],
      "shoe_position": [
        0.3199999772637042,
        -0.14500005193546614,
        -0.00010773877981718915
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.1336191363168657
    },
    {
      "completed_steps": 1550,
      "tcp_position": [
        0.3682249664076391,
        -0.01316744041667477,
        0.24812187300400468
      ],
      "shoe_position": [
        0.31999997726372925,
        -0.14500005193558574,
        -0.00010773877982213558
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.12670658165050547
    },
    {
      "completed_steps": 1560,
      "tcp_position": [
        0.3633120216017261,
        -0.020248997413853567,
        0.24626118204350722
      ],
      "shoe_position": [
        0.31999997726392404,
        -0.14500005193651888,
        -0.00010773877981717191
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.11817906200436816
    },
    {
      "completed_steps": 1570,
      "tcp_position": [
        0.3579665922320853,
        -0.028108537582001117,
        0.24341107930091416
      ],
      "shoe_position": [
        0.3199999772639479,
        -0.14500005193663293,
        -0.0001077387798222183
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.10848974512416461
    },
    {
      "completed_steps": 1580,
      "tcp_position": [
        0.3524293673998463,
        -0.03625373672131232,
        0.2397874289814319
      ],
      "shoe_position": [
        0.31999997726413354,
        -0.14500005193752188,
        -0.00010773877981771364
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0982249458541463
    },
    {
      "completed_steps": 1590,
      "tcp_position": [
        0.34689945796862126,
        -0.044298781551844704,
        0.23559449522960496
      ],
      "shoe_position": [
        0.3199999772641562,
        -0.14500005193763052,
        -0.00010773877982261161
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.08787049222686372
    },
    {
      "completed_steps": 1600,
      "tcp_position": [
        0.3414678122793435,
        -0.051990066805239925,
        0.230948785067498
      ],
      "shoe_position": [
        0.31999997726433305,
        -0.14500005193847731,
        -0.00010773877981838202
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0777434580808639
    },
    {
      "completed_steps": 1610,
      "tcp_position": [
        0.33620766219437676,
        -0.0592071951469637,
        0.2259328184700405
      ],
      "shoe_position": [
        0.31999997726435475,
        -0.14500005193858084,
        -0.00010773877982306328
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.06805119036068696
    },
    {
      "completed_steps": 1620,
      "tcp_position": [
        0.3312018042391128,
        -0.06594197402606912,
        0.22062260890190843
      ],
      "shoe_position": [
        0.3199999772645233,
        -0.14500005193938761,
        -0.00010773877981904148
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.058932525725024394
    },
    {
      "completed_steps": 1630,
      "tcp_position": [
        0.32654205671064507,
        -0.07228098650424811,
        0.21511112993634046
      ],
      "shoe_position": [
        0.319999977264544,
        -0.14500005193948623,
        -0.00010773877982350113
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.05048018426042056
    },
    {
      "completed_steps": 1640,
      "tcp_position": [
        0.32233491001342074,
        -0.0784127662297282,
        0.20972861519803626
      ],
      "shoe_position": [
        0.31999997726475266,
        -0.1450000519404858,
        -0.00010773877981759143
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.042773774337851796
    },
    {
      "completed_steps": 1650,
      "tcp_position": [
        0.3189666124324684,
        -0.0846873870767915,
        0.20492353009711498
      ],
      "shoe_position": [
        0.3199999772647723,
        -0.14500005194057985,
        -0.00010773877982269354
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.035669169740074926
    },
    {
      "completed_steps": 1660,
      "tcp_position": [
        0.31654937599565003,
        -0.09152505905305702,
        0.20095385753302136
      ],
      "shoe_position": [
        0.3199999772649712,
        -0.14500005194153276,
        -0.00010773877981760696
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.028699109953874653
    },
    {
      "completed_steps": 1670,
      "tcp_position": [
        0.3147835663864325,
        -0.09903376833304989,
        0.19795557111386608
      ],
      "shoe_position": [
        0.3199999772649899,
        -0.1450000519416224,
        -0.00010773877982278105
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.021701929394121557
    },
    {
      "completed_steps": 1680,
      "tcp_position": [
        0.3133818652832733,
        -0.10634766185837785,
        0.19574559381956674
      ],
      "shoe_position": [
        0.3199999772651794,
        -0.1450000519425302,
        -0.00010773877981813573
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015757094142323427
    },
    {
      "completed_steps": 1690,
      "tcp_position": [
        0.3124782119036575,
        -0.11237475385913887,
        0.19424415027344816
      ],
      "shoe_position": [
        0.3199999772651973,
        -0.14500005194261564,
        -0.00010773877982314837
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012159419433083334
    },
    {
      "completed_steps": 1700,
      "tcp_position": [
        0.31209976306099574,
        -0.11673841427722116,
        0.19340230673373598
      ],
      "shoe_position": [
        0.31999997726537793,
        -0.14500005194348042,
        -0.00010773877981877206
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010797279358947233
    },
    {
      "completed_steps": 1710,
      "tcp_position": [
        0.31212415182720316,
        -0.11950030784959387,
        0.19311740305779074
      ],
      "shoe_position": [
        0.319999977265395,
        -0.1450000519435618,
        -0.00010773877982356516
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010471333122149894
    },
    {
      "completed_steps": 1720,
      "tcp_position": [
        0.3123739656866696,
        -0.12092524511493905,
        0.1932575895753917
      ],
      "shoe_position": [
        0.31999997726556717,
        -0.14500005194438564,
        -0.00010773877981941797
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010221182720442805
    },
    {
      "completed_steps": 1730,
      "tcp_position": [
        0.3127281727632152,
        -0.12137404690105431,
        0.19362781259536127
      ],
      "shoe_position": [
        0.3199999772656311,
        -0.1450000519446922,
        -0.00010773877982131929
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009765871623556148
    },
    {
      "completed_steps": 1740,
      "tcp_position": [
        0.31313587758016714,
        -0.12122613850708203,
        0.19402596041899672
      ],
      "shoe_position": [
        0.3199999772657952,
        -0.14500005194547796,
        -0.00010773877981805795
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009181979152034458
    },
    {
      "completed_steps": 1750,
      "tcp_position": [
        0.3135503994844193,
        -0.12080429402629578,
        0.19444179390415672
      ],
      "shoe_position": [
        0.3199999772658563,
        -0.14500005194577026,
        -0.00010773877982068915
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008552069380868192
    },
    {
      "completed_steps": 1760,
      "tcp_position": [
        0.3139402755622156,
        -0.12031613246273551,
        0.19491332318066718
      ],
      "shoe_position": [
        0.31999997726601265,
        -0.14500005194651938,
        -0.00010773877981809495
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007917984659003502
    },
    {
      "completed_steps": 1770,
      "tcp_position": [
        0.3142507117259352,
        -0.11985038607347576,
        0.19540426593044022
      ],
      "shoe_position": [
        0.3199999772660708,
        -0.14500005194679788,
        -0.00010773877982090385
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007361893209183457
    },
    {
      "completed_steps": 1780,
      "tcp_position": [
        0.3144396584973538,
        -0.11945052572046953,
        0.19585519115072908
      ],
      "shoe_position": [
        0.31999997726621976,
        -0.14500005194751153,
        -0.00010773877981861408
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006956921733562211
    },
    {
      "completed_steps": 1790,
      "tcp_position": [
        0.31450408063380125,
        -0.1191258130843152,
        0.19622467890130876
      ],
      "shoe_position": [
        0.3199999772662752,
        -0.1450000519477768,
        -0.00010773877982136885
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0067247588686536785
    },
    {
      "completed_steps": 1800,
      "tcp_position": [
        0.31446436177420234,
        -0.11886705602082201,
        0.19649163996231978
      ],
      "shoe_position": [
        0.31999997726641727,
        -0.1450000519484566,
        -0.00010773877981922978
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006650973070225113
    },
    {
      "completed_steps": 1810,
      "tcp_position": [
        0.3143509683554504,
        -0.11865323481473845,
        0.19665057005545475
      ],
      "shoe_position": [
        0.3199999772664701,
        -0.14500005194870938,
        -0.0001077387798218739
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006704029828302665
    },
    {
      "completed_steps": 1820,
      "tcp_position": [
        0.31422924020492427,
        -0.11846574609593884,
        0.19672037825707572
      ],
      "shoe_position": [
        0.31999997726660545,
        -0.14500005194935708,
        -0.00010773877981985396
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0068126002694456735
    },
    {
      "completed_steps": 1830,
      "tcp_position": [
        0.3141857436155172,
        -0.11830078565927139,
        0.19673982934092915
      ],
      "shoe_position": [
        0.3199999772667034,
        -0.14500005194982613,
        -0.00010773877981973338
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006879071115092736
    },
    {
      "completed_steps": 1840,
      "tcp_position": [
        0.31423694697039545,
        -0.11815513425411028,
        0.1967357403852347
      ],
      "shoe_position": [
        0.31999997726683244,
        -0.14500005195044394,
        -0.00010773877981858287
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006875441853072375
    },
    {
      "completed_steps": 1850,
      "tcp_position": [
        0.31435060318563846,
        -0.11801915938707482,
        0.1967370536697736
      ],
      "shoe_position": [
        0.3199999772669258,
        -0.14500005195089113,
        -0.0001077387798192516
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006818081302967155
    },
    {
      "completed_steps": 1860,
      "tcp_position": [
        0.31449817537368624,
        -0.11788912327238156,
        0.19677115687273722
      ],
      "shoe_position": [
        0.3199999772670487,
        -0.14500005195148005,
        -0.00010773877981863858
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0067194719077012235
    },
    {
      "completed_steps": 1870,
      "tcp_position": [
        0.3146701769940733,
        -0.11776946138693743,
        0.19684507807426366
      ],
      "shoe_position": [
        0.31999997726713764,
        -0.14500005195190607,
        -0.00010773877981956473
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006582996896274578
    },
    {
      "completed_steps": 1880,
      "tcp_position": [
        0.31485894544656595,
        -0.11766472372162036,
        0.19695435837559885
      ],
      "shoe_position": [
        0.3199999772672548,
        -0.14500005195246715,
        -0.00010773877981914409
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006415597409597378
    },
    {
      "completed_steps": 1890,
      "tcp_position": [
        0.31505312771997307,
        -0.11757544528899626,
        0.1970836478899568
      ],
      "shoe_position": [
        0.3199999772673396,
        -0.145000051952873,
        -0.00010773877982010082
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006233387564663599
    },
    {
      "completed_steps": 1900,
      "tcp_position": [
        0.31523881251180863,
        -0.11750019691608923,
        0.1972114629475582
      ],
      "shoe_position": [
        0.3199999772674512,
        -0.14500005195340748,
        -0.00010773877981973787
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006057545761187505
    },
    {
      "completed_steps": 1910,
      "tcp_position": [
        0.31541047317573156,
        -0.11744262280456193,
        0.1973308086849816
      ],
      "shoe_position": [
        0.31999997726753204,
        -0.14500005195379412,
        -0.00010773877982066655
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005893090603969702
    },
    {
      "completed_steps": 1920,
      "tcp_position": [
        0.3155672118682543,
        -0.11740416593747527,
        0.19744052419370875
      ],
      "shoe_position": [
        0.31999997726763846,
        -0.14500005195430332,
        -0.00010773877982033014
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005739240498890022
    },
    {
      "completed_steps": 1930,
      "tcp_position": [
        0.31571008096170405,
        -0.11738345690825307,
        0.19754107689552772
      ],
      "shoe_position": [
        0.31999997726776286,
        -0.1450000519548992,
        -0.00010773877981862217
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005594283326737243
    },
    {
      "completed_steps": 1940,
      "tcp_position": [
        0.3158412978576195,
        -0.11737715092502043,
        0.1976336780131368
      ],
      "shoe_position": [
        0.3199999772678643,
        -0.14500005195538485,
        -0.00010773877981913108
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005456520917642817
    },
    {
      "completed_steps": 1950,
      "tcp_position": [
        0.31596517506866795,
        -0.11737861612880435,
        0.19772077439660313
      ],
      "shoe_position": [
        0.3199999772679829,
        -0.14500005195595284,
        -0.00010773877981824826
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00532412762599126
    },
    {
      "completed_steps": 1960,
      "tcp_position": [
        0.31608394196960643,
        -0.117384270947075,
        0.19780376723331744
      ],
      "shoe_position": [
        0.31999997726807944,
        -0.14500005195641585,
        -0.0001077387798191871
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005196247428787056
    },
    {
      "completed_steps": 1970,
      "tcp_position": [
        0.3161980966057868,
        -0.11739327456056342,
        0.19788305908492437
      ],
      "shoe_position": [
        0.31999997726819246,
        -0.14500005195695706,
        -0.00010773877981862783
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005072565994982917
    },
    {
      "completed_steps": 1980,
      "tcp_position": [
        0.31630786798241345,
        -0.11740528281673694,
        0.197958854131606
      ],
      "shoe_position": [
        0.3199999772682845,
        -0.14500005195739812,
        -0.00010773877981967366
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004952844894852888
    },
    {
      "completed_steps": 1990,
      "tcp_position": [
        0.3164134499376307,
        -0.11742003534206605,
        0.1980313190308728
      ],
      "shoe_position": [
        0.3199999772683922,
        -0.1450000519579136,
        -0.00010773877981921966
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004836865074019861
    },
    {
      "completed_steps": 2000,
      "tcp_position": [
        0.31651502894059186,
        -0.11743728578470305,
        0.19810060954451725
      ],
      "shoe_position": [
        0.31999997726848,
        -0.1450000519583338,
        -0.00010773877982025404
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004724427111997431
    },
    {
      "completed_steps": 2010,
      "tcp_position": [
        0.31661278549526706,
        -0.1174568068830309,
        0.19816687523053605
      ],
      "shoe_position": [
        0.31999997726858265,
        -0.14500005195882495,
        -0.00010773877981984018
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004615343947280048
    },
    {
      "completed_steps": 2020,
      "tcp_position": [
        0.3167068937947091,
        -0.11747838453041043,
        0.19823025972662695
      ],
      "shoe_position": [
        0.31999997726866625,
        -0.14500005195922527,
        -0.0001077387798208337
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0045094427251044355
    },
    {
      "completed_steps": 2030,
      "tcp_position": [
        0.31679752281291085,
        -0.11750181803878489,
        0.19829090233994234
      ],
      "shoe_position": [
        0.3199999772688113,
        -0.14500005195991977,
        -0.00010773877981790055
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004406561931572238
    },
    {
      "completed_steps": 2040,
      "tcp_position": [
        0.31688486411655825,
        -0.11752692663584634,
        0.1983489674255947
      ],
      "shoe_position": [
        0.319999977268891,
        -0.14500005196030152,
        -0.00010773877981970255
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004306515064241633
    },
    {
      "completed_steps": 2050,
      "tcp_position": [
        0.3169690730665683,
        -0.11755351807834323,
        0.19840458374740624
      ],
      "shoe_position": [
        0.31999997726902923,
        -0.14500005196096366,
        -0.00010773877981762523
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004209173896126824
    },
    {
      "completed_steps": 2060,
      "tcp_position": [
        0.3170502729995147,
        -0.11758141954995817,
        0.19845784610927203
      ],
      "shoe_position": [
        0.3199999772691053,
        -0.14500005196132768,
        -0.00010773877981977503
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004114445210888575
    },
    {
      "completed_steps": 2070,
      "tcp_position": [
        0.31712859429712953,
        -0.11761047926125678,
        0.19850885745414273
      ],
      "shoe_position": [
        0.3199999772692371,
        -0.14500005196195848,
        -0.00010773877981806116
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004022224031978668
    },
    {
      "completed_steps": 2080,
      "tcp_position": [
        0.3172041685766773,
        -0.11764055622593939,
        0.19855772440106717
      ],
      "shoe_position": [
        0.3199999772693095,
        -0.1450000519623052,
        -0.00010773877982024454
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003932404757126228
    },
    {
      "completed_steps": 2090,
      "tcp_position": [
        0.31727712324941587,
        -0.11767151870620102,
        0.19860455160207963
      ],
      "shoe_position": [
        0.31999997726943513,
        -0.1450000519629061,
        -0.00010773877981868761
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0038448874061150287
    },
    {
      "completed_steps": 2100,
      "tcp_position": [
        0.31734757960823967,
        -0.11770324429114169,
        0.19864943938326407
      ],
      "shoe_position": [
        0.31999997726950413,
        -0.1450000519632364,
        -0.00010773877982080022
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0037595790589210146
    },
    {
      "completed_steps": 2110,
      "tcp_position": [
        0.3174156524954214,
        -0.11773561972480405,
        0.19869248309298024
      ],
      "shoe_position": [
        0.31999997726962376,
        -0.14500005196380886,
        -0.00010773877981932851
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0036763936836607418
    },
    {
      "completed_steps": 2120,
      "tcp_position": [
        0.3174814504849315,
        -0.11776854046813584,
        0.19873377308633589
      ],
      "shoe_position": [
        0.31999997726968965,
        -0.14500005196412358,
        -0.00010773877982134443
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003595251576605825
    },
    {
      "completed_steps": 2130,
      "tcp_position": [
        0.3175450762000805,
        -0.11780191016319412,
        0.19877339491106807
      ],
      "shoe_position": [
        0.3199999772698507,
        -0.1450000519648947,
        -0.00010773877981749181
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0035160787588269815
    },
    {
      "completed_steps": 2140,
      "tcp_position": [
        0.31760662665210065,
        -0.11783564008857698,
        0.19881142954580178
      ],
      "shoe_position": [
        0.3199999772699134,
        -0.1450000519651948,
        -0.0001077387798202893
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0034388064111262467
    },
    {
      "completed_steps": 2150,
      "tcp_position": [
        0.3176661935687449,
        -0.11786964863799937,
        0.1988479536440974
      ],
      "shoe_position": [
        0.3199999772700669,
        -0.14500005196592997,
        -0.00010773877981729889
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0033633703617493523
    },
    {
      "completed_steps": 2160,
      "tcp_position": [
        0.3177238637057024,
        -0.11790386083031704,
        0.19888303977077648
      ],
      "shoe_position": [
        0.3199999772701267,
        -0.14500005196621607,
        -0.00010773877982037078
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003289710625961678
    },
    {
      "completed_steps": 2170,
      "tcp_position": [
        0.3177797191398837,
        -0.11793820785149434,
        0.19891675662705438
      ],
      "shoe_position": [
        0.319999977270273,
        -0.14500005196691643,
        -0.00010773877981776301
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0032177709934781127
    },
    {
      "completed_steps": 2180,
      "tcp_position": [
        0.3178338375451714,
        -0.1179726266268991,
        0.19894916926391715
      ],
      "shoe_position": [
        0.31999997727032997,
        -0.14500005196718901,
        -0.00010773877982081144
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0031474986593426828
    },
    {
      "completed_steps": 2190,
      "tcp_position": [
        0.3178862924515717,
        -0.1180070594219291,
        0.19898033928401004
      ],
      "shoe_position": [
        0.31999997727046936,
        -0.1450000519678562,
        -0.00010773877981840494
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003078843894018922
    },
    {
      "completed_steps": 2200,
      "tcp_position": [
        0.31793715348873214,
        -0.11804145346905674,
        0.1990103250325168
      ],
      "shoe_position": [
        0.3199999772705236,
        -0.14500005196811588,
        -0.00010773877982134014
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0030117597487486847
    },
    {
      "completed_steps": 2210,
      "tcp_position": [
        0.3179864866147538,
        -0.1180757606195215,
        0.19903918177755253
      ],
      "shoe_position": [
        0.31999997727070556,
        -0.14500005196898733,
        -0.00010773877981657585
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0029462017925690276
    },
    {
      "completed_steps": 2220,
      "tcp_position": [
        0.31803435433118754,
        -0.11810993701804258,
        0.19906696188059902
      ],
      "shoe_position": [
        0.31999997727075724,
        -0.14500005196923493,
        -0.00010773877982029962
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002882127877687299
    },
    {
      "completed_steps": 2230,
      "tcp_position": [
        0.31808081588503967,
        -0.11814394279904229,
        0.19909371495749714
      ],
      "shoe_position": [
        0.3199999772709306,
        -0.1450000519700657,
        -0.00010773877981643551
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002819497930236421
    },
    {
      "completed_steps": 2240,
      "tcp_position": [
        0.318125927458577,
        -0.11817774180298614,
        0.19911948803048135
      ],
      "shoe_position": [
        0.3199999772709799,
        -0.14500005197030172,
        -0.00010773877982038527
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002758273763709028
    },
    {
      "completed_steps": 2250,
      "tcp_position": [
        0.31816974234766693,
        -0.1182113013115257,
        0.19914432567173596
      ],
      "shoe_position": [
        0.3199999772711451,
        -0.14500005197109314,
        -0.00010773877981695689
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002698418912645626
    },
    {
      "completed_steps": 2260,
      "tcp_position": [
        0.3182123111293426,
        -0.11824459180022999,
        0.19916827013892008
      ],
      "shoe_position": [
        0.3199999772711921,
        -0.14500005197131793,
        -0.00010773877982083801
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0026398984843936917
    },
    {
      "completed_steps": 2270,
      "tcp_position": [
        0.3182536818192531,
        -0.11827758670776009,
        0.19919136150309574
      ],
      "shoe_position": [
        0.31999997727134966,
        -0.1450000519720718,
        -0.00010773877981764502
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0025826790269732353
    },
    {
      "completed_steps": 2280,
      "tcp_position": [
        0.31829390001960656,
        -0.11831026222042718,
        0.19921363776947054
      ],
      "shoe_position": [
        0.3199999772713944,
        -0.14500005197228602,
        -0.00010773877982136806
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002526728411289487
    },
    {
      "completed_steps": 2290,
      "tcp_position": [
        0.3183330090581851,
        -0.11834259707112955,
        0.1992351349913442
      ],
      "shoe_position": [
        0.31999997727154456,
        -0.14500005197300428,
        -0.00010773877981833476
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002472015726120533
    },
    {
      "completed_steps": 2300,
      "tcp_position": [
        0.3183710501189713,
        -0.11837457235173911,
        0.1992558873776381
      ],
      "shoe_position": [
        0.3199999772715872,
        -0.14500005197320837,
        -0.00010773877982188396
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0024185111844671294
    },
    {
      "completed_steps": 2310,
      "tcp_position": [
        0.3184080623649018,
        -0.1184061713380652,
        0.1992759273943555
      ],
      "shoe_position": [
        0.3199999772717791,
        -0.14500005197412766,
        -0.00010773877981660891
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002366186040000164
    },
    {
      "completed_steps": 2320,
      "tcp_position": [
        0.31844408305321986,
        -0.11843737932657655,
        0.19929528586031392
      ],
      "shoe_position": [
        0.3199999772718197,
        -0.14500005197432225,
        -0.00010773877982090782
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0023150125124848657
    },
    {
      "completed_steps": 2330,
      "tcp_position": [
        0.3184791476438814,
        -0.1184681834821184,
        0.1993139920374689
      ],
      "shoe_position": [
        0.3199999772720026,
        -0.14500005197519858,
        -0.00010773877981652883
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0022649637211713644
    },
    {
      "completed_steps": 2340,
      "tcp_position": [
        0.31851328990143496,
        -0.11849857269590956,
        0.19933207371612893
      ],
      "shoe_position": [
        0.3199999772720413,
        -0.14500005197538404,
        -0.00010773877982100182
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002216013625258064
    },
    {
      "completed_steps": 2350,
      "tcp_position": [
        0.3185465419907767,
        -0.11852853745315275,
        0.19934955729535192
      ],
      "shoe_position": [
        0.3199999772722157,
        -0.14500005197621887,
        -0.00010773877981705615
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021681369706223527
    },
    {
      "completed_steps": 2360,
      "tcp_position": [
        0.3185789345671486,
        -0.11855806970962736,
        0.19936646785879533
      ],
      "shoe_position": [
        0.31999997727225254,
        -0.1450000519763956,
        -0.00010773877982142619
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021213092421140996
    },
    {
      "completed_steps": 2370,
      "tcp_position": [
        0.31861049686073395,
        -0.1185871627766827,
        0.19938282924627287
      ],
      "shoe_position": [
        0.3199999772724188,
        -0.14500005197719087,
        -0.00010773877981773957
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020755066207741365
    },
    {
      "completed_steps": 2380,
      "tcp_position": [
        0.31864125675617927,
        -0.11861581121408478,
        0.19939866412126775
      ],
      "shoe_position": [
        0.319999977272454,
        -0.14500005197735927,
        -0.00010773877982192645
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020307059454122453
    },
    {
      "completed_steps": 2390,
      "tcp_position": [
        0.3186712408673513,
        -0.11864401073019999,
        0.19941399403462687
      ],
      "shoe_position": [
        0.3199999772726123,
        -0.145000051978117,
        -0.00010773877981842418
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0019868846780482594
    },
    {
      "completed_steps": 2400,
      "tcp_position": [
        0.31870047460761947,
        -0.1186717580890395,
        0.19942883948465573
      ],
      "shoe_position": [
        0.3199999772726459,
        -0.14500005197827742,
        -0.00010773877982241592
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0019440208727691513
    },
    {
      "completed_steps": 2410,
      "tcp_position": [
        0.3187289822559381,
        -0.11869905102371223,
        0.1994432199738203
      ],
      "shoe_position": [
        0.31999997727284546,
        -0.14500005197923327,
        -0.0001077387798167954
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0019020931476079425
    },
    {
      "completed_steps": 2420,
      "tcp_position": [
        0.3187567870189832,
        -0.11872588815587064,
        0.1994571540622488
      ],
      "shoe_position": [
        0.31999997727287743,
        -0.14500005197938623,
        -0.0001077387798215008
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001861080659093646
    },
    {
      "completed_steps": 2430,
      "tcp_position": [
        0.31878391108958537,
        -0.1187522689207521,
        0.199470659418216
      ],
      "shoe_position": [
        0.3199999772730676,
        -0.14500005198029747,
        -0.0001077387798167573
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018209630791638843
    },
    {
      "completed_steps": 2440,
      "tcp_position": [
        0.31881037570168597,
        -0.11877819349745118,
        0.1994837528657847
      ],
      "shoe_position": [
        0.31999997727309804,
        -0.14500005198044327,
        -0.00010773877982159459
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017817205741628656
    },
    {
      "completed_steps": 2450,
      "tcp_position": [
        0.3188362011820245,
        -0.11880366274407746,
        0.19949645042976571
      ],
      "shoe_position": [
        0.31999997727327933,
        -0.14500005198131133,
        -0.00010773877981729767
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017433337856855237
    },
    {
      "completed_steps": 2460,
      "tcp_position": [
        0.3188614069987635,
        -0.11882867813747758,
        0.19950876737815154
      ],
      "shoe_position": [
        0.31999997727330837,
        -0.14500005198145022,
        -0.0001077387798220045
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017057838130478081
    },
    {
      "completed_steps": 2470,
      "tcp_position": [
        0.31888601180723114,
        -0.11885324171721999,
        0.19952071826216788
      ],
      "shoe_position": [
        0.3199999772734811,
        -0.14500005198227714,
        -0.00010773877981797823
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001669052197198271
    },
    {
      "completed_steps": 2480,
      "tcp_position": [
        0.31891003349296204,
        -0.1188773560335614,
        0.19953231695407914
      ],
      "shoe_position": [
        0.3199999772735088,
        -0.14500005198240948,
        -0.00010773877982248152
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016331209058999174
    },
    {
      "completed_steps": 2490,
      "tcp_position": [
        0.31893348921219783,
        -0.11890102409913067,
        0.19954357668288047
      ],
      "shoe_position": [
        0.3199999772736735,
        -0.14500005198319738,
        -0.0001077387798186541
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015979723200357282
    },
    {
      "completed_steps": 2500,
      "tcp_position": [
        0.31895639543000576,
        -0.11892424934408494,
        0.19955451006799405
      ],
      "shoe_position": [
        0.3199999772736999,
        -0.14500005198332347,
        -0.00010773877982294562
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015635892209059392
    },
    {
      "completed_steps": 2510,
      "tcp_position": [
        0.3189787679561566,
        -0.1189470355745046,
        0.19956512915108465
      ],
      "shoe_position": [
        0.3199999772739053,
        -0.14500005198430707,
        -0.00010773877981711757
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001529954778406146
    },
    {
      "completed_steps": 2520,
      "tcp_position": [
        0.3190006219789022,
        -0.11896938693381491,
        0.19957544542610509
      ],
      "shoe_position": [
        0.3199999772739304,
        -0.1450000519844273,
        -0.00010773877982208655
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014970525399797595
    },
    {
      "completed_steps": 2530,
      "tcp_position": [
        0.3190219720967786,
        -0.11899130786703188,
        0.19958546986767095
      ],
      "shoe_position": [
        0.31999997727412627,
        -0.14500005198536503,
        -0.00010773877981710126
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014648664202582158
    },
    {
      "completed_steps": 2540,
      "tcp_position": [
        0.31904283234855546,
        -0.11901280308763927,
        0.1995952129578603
      ],
      "shoe_position": [
        0.31999997727415014,
        -0.14500005198547963,
        -0.00010773877982217208
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014333806913135888
    },
    {
      "completed_steps": 2550,
      "tcp_position": [
        0.3190632162414429,
        -0.11903387754692604,
        0.1996046847115312
      ],
      "shoe_position": [
        0.31999997727433666,
        -0.14500005198637297,
        -0.00010773877981763736
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014025799734514908
    },
    {
      "completed_steps": 2560,
      "tcp_position": [
        0.3190831367776675,
        -0.11905453640561853,
        0.1996138947002398
      ],
      "shoe_position": [
        0.3199999772743594,
        -0.14500005198648216,
        -0.0001077387798225599
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001372449226481491
    },
    {
      "completed_steps": 2570,
      "tcp_position": [
        0.3191026064795076,
        -0.1190747850076458,
        0.1996228520748386
      ],
      "shoe_position": [
        0.3199999772745372,
        -0.14500005198733315,
        -0.00010773877981829359
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001342973741423213
    },
    {
      "completed_steps": 2580,
      "tcp_position": [
        0.31912163741289123,
        -0.11909462885590613,
        0.1996315655868336
      ],
      "shoe_position": [
        0.319999977274559,
        -0.14500005198743718,
        -0.00010773877982300313
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013141391325866261
    },
    {
      "completed_steps": 2590,
      "tcp_position": [
        0.3191402412096347,
        -0.11911407358988685,
        0.19964004360856774
      ],
      "shoe_position": [
        0.3199999772747284,
        -0.14500005198824792,
        -0.00010773877981896153
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012859313300014673
    },
    {
      "completed_steps": 2600,
      "tcp_position": [
        0.3191584290884129,
        -0.11913312496502068,
        0.1996482941522999
      ],
      "shoe_position": [
        0.3199999772747492,
        -0.145000051988347,
        -0.00010773877982344932
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001258336572148477
    },
    {
      "completed_steps": 2610,
      "tcp_position": [
        0.31917621187453116,
        -0.11915178883365697,
        0.19965632488824275
      ],
      "shoe_position": [
        0.319999977274959,
        -0.14500005198935145,
        -0.00010773877981750846
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001231341398968555
    },
    {
      "completed_steps": 2620,
      "tcp_position": [
        0.319193600018577,
        -0.11917007112753605,
        0.19966414316161624
      ],
      "shoe_position": [
        0.31999997727497875,
        -0.1450000519894459,
        -0.00010773877982263919
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012049326451206508
    },
    {
      "completed_steps": 2630,
      "tcp_position": [
        0.3192106036140143,
        -0.1191879778416666,
        0.1996717560087751
      ],
      "shoe_position": [
        0.3199999772751786,
        -0.14500005199040353,
        -0.0001077387798175337
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011790974334663577
    },
    {
      "completed_steps": 2640,
      "tcp_position": [
        0.31922723241416845,
        -0.11920551502437278,
        0.19967917017302028
      ],
      "shoe_position": [
        0.3199999772751974,
        -0.14500005199049362,
        -0.00010773877982273475
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011538231649993664
    },
    {
      "completed_steps": 2650,
      "tcp_position": [
        0.31924349585299405,
        -0.11922268883706381,
        0.19968639212906927
      ],
      "shoe_position": [
        0.31999997727538787,
        -0.1450000519914059,
        -0.0001077387798180714
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011290974560117099
    },
    {
      "completed_steps": 2660,
      "tcp_position": [
        0.31925940304693035,
        -0.11923950527319278,
        0.19969342806608092
      ],
      "shoe_position": [
        0.31999997727540574,
        -0.14500005199149169,
        -0.00010773877982310716
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011049083342361621
    },
    {
      "completed_steps": 2670,
      "tcp_position": [
        0.3192749628122896,
        -0.1192559704235288,
        0.19970028392253286
      ],
      "shoe_position": [
        0.3199999772755873,
        -0.14500005199236068,
        -0.00010773877981871137
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010812440341195831
    },
    {
      "completed_steps": 2680,
      "tcp_position": [
        0.31929018368683715,
        -0.11927209042693919,
        0.1997069654041849
      ],
      "shoe_position": [
        0.31999997727560453,
        -0.14500005199244248,
        -0.00010773877982352623
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001058093010717965
    },
    {
      "completed_steps": 2690,
      "tcp_position": [
        0.3193050739418685,
        -0.11928787141864516,
        0.1997134779918303
      ],
      "shoe_position": [
        0.31999997727577745,
        -0.1450000519932704,
        -0.00010773877981935993
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010354439645959624
    },
    {
      "completed_steps": 2700,
      "tcp_position": [
        0.3193196415896561,
        -0.11930331948924225,
        0.1997198269465744
      ],
      "shoe_position": [
        0.3199999772758419,
        -0.1450000519935785,
        -0.00010773877982126636
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010132858631507757
    },
    {
      "completed_steps": 2710,
      "tcp_position": [
        0.31933389439207543,
        -0.11931844065920053,
        0.19972601731571982
      ],
      "shoe_position": [
        0.31999997727600676,
        -0.14500005199436813,
        -0.00010773877981798153
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000991607950363929
    },
    {
      "completed_steps": 2720,
      "tcp_position": [
        0.3193478398722457,
        -0.11933324095088424,
        0.19973205394964919
      ],
      "shoe_position": [
        0.3199999772760681,
        -0.14500005199466187,
        -0.00010773877982062812
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009703996845160684
    },
    {
      "completed_steps": 2730,
      "tcp_position": [
        0.3193614853299509,
        -0.11934772638349123,
        0.19973794151630214
      ],
      "shoe_position": [
        0.3199999772762252,
        -0.1450000519954147,
        -0.00010773877981802533
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009496507271304405
    },
    {
      "completed_steps": 2740,
      "tcp_position": [
        0.31937483784838466,
        -0.11936190290580793,
        0.19974368450340213
      ],
      "shoe_position": [
        0.3199999772762837,
        -0.14500005199569455,
        -0.00010773877982084867
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009293509838725607
    },
    {
      "completed_steps": 2750,
      "tcp_position": [
        0.3193879042963762,
        -0.11937577633326033,
        0.19974928721610757
      ],
      "shoe_position": [
        0.3199999772764336,
        -0.14500005199641175,
        -0.00010773877981854939
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009094906467467031
    },
    {
      "completed_steps": 2760,
      "tcp_position": [
        0.31940069135014715,
        -0.11938935262649988,
        0.19975475381738014
      ],
      "shoe_position": [
        0.31999997727648927,
        -0.14500005199667834,
        -0.00010773877982131855
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008900599769906852
    },
    {
      "completed_steps": 2770,
      "tcp_position": [
        0.3194132054896002,
        -0.11940263744006889,
        0.1997600882924466
      ],
      "shoe_position": [
        0.31999997727663193,
        -0.14500005199736155,
        -0.00010773877981917145
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008710496270959282
    },
    {
      "completed_steps": 2780,
      "tcp_position": [
        0.319425453008528,
        -0.11941563655872152,
        0.1997652944908765
      ],
      "shoe_position": [
        0.31999997727668505,
        -0.14500005199761554,
        -0.00010773877982182466
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008524503228489683
    },
    {
      "completed_steps": 2790,
      "tcp_position": [
        0.3194374400287045,
        -0.11942835563701489,
        0.1997703761203796
      ],
      "shoe_position": [
        0.31999997727682106,
        -0.1450000519982665,
        -0.0001077387798197877
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008342530342339698
    },
    {
      "completed_steps": 2800,
      "tcp_position": [
        0.3194491724965399,
        -0.11944080019350527,
        0.19977533674312692
      ],
      "shoe_position": [
        0.3199999772769194,
        -0.1450000519987379,
        -0.00010773877981966468
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008164489825706406
    },
    {
      "completed_steps": 2810,
      "tcp_position": [
        0.3194606562001512,
        -0.1194529758654216,
        0.19978017981451282
      ],
      "shoe_position": [
        0.31999997727704904,
        -0.14500005199935873,
        -0.00010773877981850676
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007990294438844136
    },
    {
      "completed_steps": 2820,
      "tcp_position": [
        0.31947189676838483,
        -0.11946488791750673,
        0.19978490863556414
      ],
      "shoe_position": [
        0.31999997727714286,
        -0.14500005199980814,
        -0.00010773877981917851
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007819860990628635
    },
    {
      "completed_steps": 2830,
      "tcp_position": [
        0.3194828996686126,
        -0.11947654177196264,
        0.19978952640295777
      ],
      "shoe_position": [
        0.31999997727726637,
        -0.14500005200039998,
        -0.00010773877981856137
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000765310658669326
    },
    {
      "completed_steps": 2840,
      "tcp_position": [
        0.3194936702350837,
        -0.11948794278961264,
        0.19979403621480096
      ],
      "shoe_position": [
        0.31999997727735574,
        -0.14500005200082813,
        -0.00010773877981949308
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007489949922151827
    },
    {
      "completed_steps": 2850,
      "tcp_position": [
        0.31950421365679027,
        -0.11949909604686489,
        0.19979844103687805
      ],
      "shoe_position": [
        0.3199999772774735,
        -0.14500005200139196,
        -0.00010773877981906995
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007330312981001989
    },
    {
      "completed_steps": 2860,
      "tcp_position": [
        0.3195145349810017,
        -0.11951000670972724,
        0.19980274374301815
      ],
      "shoe_position": [
        0.3199999772775587,
        -0.14500005200179983,
        -0.00010773877982004189
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007174118343753866
    },
    {
      "completed_steps": 2870,
      "tcp_position": [
        0.31952463913238843,
        -0.11952067986069884,
        0.19980694711525937
      ],
      "shoe_position": [
        0.319999977277671,
        -0.14500005200233695,
        -0.00010773877981968698
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007021290242560795
    },
    {
      "completed_steps": 2880,
      "tcp_position": [
        0.319534530904633,
        -0.11953112039563886,
        0.1998110538280375
      ],
      "shoe_position": [
        0.31999997727775226,
        -0.14500005200272553,
        -0.00010773877982061755
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000687175536545728
    },
    {
      "completed_steps": 2890,
      "tcp_position": [
        0.3195442149706056,
        -0.11954133324693018,
        0.19981506647737457
      ],
      "shoe_position": [
        0.31999997727785917,
        -0.14500005200323726,
        -0.00010773877982027695
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006725441183910004
    },
    {
      "completed_steps": 2900,
      "tcp_position": [
        0.3195536958841515,
        -0.11955132314031987,
        0.1998189875592135
      ],
      "shoe_position": [
        0.3199999772779841,
        -0.14500005200383603,
        -0.00010773877981856009
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006582277660166149
    },
    {
      "completed_steps": 2910,
      "tcp_position": [
        0.31956297808518064,
        -0.11956109485226174,
        0.19982281950006736
      ],
      "shoe_position": [
        0.31999997727808605,
        -0.14500005200432411,
        -0.00010773877981907061
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000644219537347255
    },
    {
      "completed_steps": 2920,
      "tcp_position": [
        0.3195720659035474,
        -0.11957065293944884,
        0.19982656463281254
      ],
      "shoe_position": [
        0.3199999772782053,
        -0.14500005200489496,
        -0.0001077387798181854
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006305127404756113
    },
    {
      "completed_steps": 2930,
      "tcp_position": [
        0.3195809635615247,
        -0.11958000201567705,
        0.1998302252281974
      ],
      "shoe_position": [
        0.3199999772783024,
        -0.14500005200536026,
        -0.00010773877981912878
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006171007346827792
    },
    {
      "completed_steps": 2940,
      "tcp_position": [
        0.31958967517936826,
        -0.11958914646704509,
        0.19983380346885765
      ],
      "shoe_position": [
        0.319999977278416,
        -0.14500005200590407,
        -0.00010773877981856613
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006039771278217047
    },
    {
      "completed_steps": 2950,
      "tcp_position": [
        0.3195982047753715,
        -0.11959809074707455,
        0.1998373014821883
      ],
      "shoe_position": [
        0.31999997727850865,
        -0.1450000520063473,
        -0.00010773877981961636
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005911355663631657
    },
    {
      "completed_steps": 2960,
      "tcp_position": [
        0.31960655627326023,
        -0.11960683907568898,
        0.19984072131288078
      ],
      "shoe_position": [
        0.31999997727861695,
        -0.14500005200686536,
        -0.00010773877981915995
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005785699427782296
    },
    {
      "completed_steps": 2970,
      "tcp_position": [
        0.31961473349812974,
        -0.1196153957014231,
        0.19984406494899898
      ],
      "shoe_position": [
        0.3199999772787052,
        -0.14500005200728758,
        -0.00010773877982019932
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005662742127961241
    },
    {
      "completed_steps": 2980,
      "tcp_position": [
        0.31962274018888825,
        -0.1196237647685333,
        0.19984733431802248
      ],
      "shoe_position": [
        0.3199999772788084,
        -0.14500005200778115,
        -0.00010773877981978399
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005542424784609494
    },
    {
      "completed_steps": 2990,
      "tcp_position": [
        0.319630579996841,
        -0.11963195036939982,
        0.19985053129271865
      ],
      "shoe_position": [
        0.31999997727889246,
        -0.14500005200818342,
        -0.00010773877982078144
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000542468951899803
    },
    {
      "completed_steps": 3000,
      "tcp_position": [
        0.31963825648613653,
        -0.1196399563980308,
        0.19985365767235785
      ],
      "shoe_position": [
        0.31999997727903823,
        -0.14500005200888139,
        -0.00010773877981783437
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005309480596075069
    },
    {
      "completed_steps": 3010,
      "tcp_position": [
        0.3196457731330828,
        -0.11964778678676777,
        0.1998567152099398
      ],
      "shoe_position": [
        0.31999997727911833,
        -0.14500005200926508,
        -0.00010773877981964438
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005196742747952375
    },
    {
      "completed_steps": 3020,
      "tcp_position": [
        0.31965311823697984,
        -0.11965529029711079,
        0.19985968506116536
      ],
      "shoe_position": [
        0.3199999772792573,
        -0.14500005200993046,
        -0.0001077387798175502
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005087632247343701
    },
    {
      "completed_steps": 3030,
      "tcp_position": [
        0.31966027823067256,
        -0.11966238116135013,
        0.1998625514704504
      ],
      "shoe_position": [
        0.31999997727933355,
        -0.14500005201029623,
        -0.00010773877981970893
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004982865230383119
    },
    {
      "completed_steps": 3040,
      "tcp_position": [
        0.3196672731398497,
        -0.11966926853580562,
        0.19986534084529373
      ],
      "shoe_position": [
        0.31999997727946594,
        -0.1450000520109301,
        -0.00010773877981799177
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004880815022307635
    },
    {
      "completed_steps": 3050,
      "tcp_position": [
        0.31967411927740436,
        -0.11967605001959679,
        0.19986807009194946
      ],
      "shoe_position": [
        0.31999997727953866,
        -0.14500005201127855,
        -0.00010773877982018802
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004780662462472427
    },
    {
      "completed_steps": 3060,
      "tcp_position": [
        0.319680825164408,
        -0.11968274669783371,
        0.19987074591338952
      ],
      "shoe_position": [
        0.31999997727966495,
        -0.14500005201188243,
        -0.00010773877981862557
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004682188081614343
    },
    {
      "completed_steps": 3070,
      "tcp_position": [
        0.3196873954104183,
        -0.11968935683829694,
        0.19987337068519792
      ],
      "shoe_position": [
        0.31999997727973434,
        -0.14500005201221436,
        -0.0001077387798207483
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004585365707418177
    },
    {
      "completed_steps": 3080,
      "tcp_position": [
        0.3196938331698275,
        -0.11969587459046863,
        0.19987594535666592
      ],
      "shoe_position": [
        0.3199999772798546,
        -0.14500005201278968,
        -0.00010773877981927054
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00044902109878405285
    },
    {
      "completed_steps": 3090,
      "tcp_position": [
        0.31970014111578543,
        -0.11970229427720538,
        0.1998784704853959
      ],
      "shoe_position": [
        0.3199999772799207,
        -0.1450000520131059,
        -0.00010773877982129593
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000439674278013833
    },
    {
      "completed_steps": 3100,
      "tcp_position": [
        0.31970632175321495,
        -0.11970861105494146,
        0.19988094655821692
      ],
      "shoe_position": [
        0.3199999772800825,
        -0.14500005201388083,
        -0.00010773877981741552
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00043049756321896865
    },
    {
      "completed_steps": 3110,
      "tcp_position": [
        0.319712377509306,
        -0.11971482096753723,
        0.19988337408447304
      ],
      "shoe_position": [
        0.31999997728014545,
        -0.14500005201418248,
        -0.00010773877982022523
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004214918526874973
    },
    {
      "completed_steps": 3120,
      "tcp_position": [
        0.3197183107605116,
        -0.11972092093526904,
        0.19988575362137495
      ],
      "shoe_position": [
        0.3199999772802996,
        -0.14500005201492125,
        -0.00010773877981721593
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004126574693902945
    },
    {
      "completed_steps": 3130,
      "tcp_position": [
        0.3197241238424503,
        -0.11972690871514419,
        0.1998880857779417
      ],
      "shoe_position": [
        0.31999997728035967,
        -0.14500005201520874,
        -0.0001077387798203038
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004039941797445867
    },
    {
      "completed_steps": 3140,
      "tcp_position": [
        0.319729819054399,
        -0.11973278282905969,
        0.1998903712111088
      ],
      "shoe_position": [
        0.31999997728050666,
        -0.14500005201591257,
        -0.0001077387798176818
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00039550124040885047
    },
    {
      "completed_steps": 3150,
      "tcp_position": [
        0.3197353986613415,
        -0.1197385424711145,
        0.19989261061877606
      ],
      "shoe_position": [
        0.3199999772805639,
        -0.14500005201618643,
        -0.00010773877982074778
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00038717746193503574
    },
    {
      "completed_steps": 3160,
      "tcp_position": [
        0.31974086489468323,
        -0.11974418740880177,
        0.1998948047319412
      ],
      "shoe_position": [
        0.319999977280704,
        -0.14500005201685692,
        -0.00010773877981833528
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003790212778262575
    },
    {
      "completed_steps": 3170,
      "tcp_position": [
        0.31974621995226366,
        -0.11974971788847376,
        0.19989695430703736
      ],
      "shoe_position": [
        0.31999997728075846,
        -0.14500005201711788,
        -0.0001077387798212869
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00037103081114275486
    },
    {
      "completed_steps": 3180,
      "tcp_position": [
        0.3197514659980663,
        -0.11975513455032352,
        0.19989906011898517
      ],
      "shoe_position": [
        0.31999997728089197,
        -0.14500005201775668,
        -0.00010773877981898877
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00036320393464516696
    },
    {
      "completed_steps": 3190,
      "tcp_position": [
        0.3197566051618597,
        -0.11976043835460418,
        0.19990112295515564
      ],
      "shoe_position": [
        0.3199999772809441,
        -0.14500005201800525,
        -0.00010773877982180181
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00035553832307536916
    },
    {
      "completed_steps": 3200,
      "tcp_position": [
        0.31976163953887926,
        -0.11976563051889078,
        0.19990314361025419
      ],
      "shoe_position": [
        0.31999997728111823,
        -0.14500005201883975,
        -0.00010773877981724618
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00034803149762010734
    },
    {
      "completed_steps": 3210,
      "tcp_position": [
        0.31976657118960217,
        -0.11977071246536958,
        0.19990512288204984
      ],
      "shoe_position": [
        0.3199999772811678,
        -0.1450000520190768,
        -0.00010773877982081243
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003406808632300564
    },
    {
      "completed_steps": 3220,
      "tcp_position": [
        0.31977141743583976,
        -0.11977584106329385,
        0.19990708236461152
      ],
      "shoe_position": [
        0.31999997728133384,
        -0.14500005201987246,
        -0.00010773877981710976
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00033336302210877156
    },
    {
      "completed_steps": 3230,
      "tcp_position": [
        0.3197761973067053,
        -0.11978110769708954,
        0.1999090404386561
      ],
      "shoe_position": [
        0.31999997728138113,
        -0.14500005202009847,
        -0.00010773877982089067
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00032599866195934165
    },
    {
      "completed_steps": 3240,
      "tcp_position": [
        0.31978089573279056,
        -0.11978630838693761,
        0.199910972765529
      ],
      "shoe_position": [
        0.3199999772815394,
        -0.14500005202085636,
        -0.0001077387798176048
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00031874226873784465
    },
    {
      "completed_steps": 3250,
      "tcp_position": [
        0.31978550135125094,
        -0.11979135083533067,
        0.19991286459809737
      ],
      "shoe_position": [
        0.31999997728158436,
        -0.1450000520210717,
        -0.00010773877982132202
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003116676474982844
    },
    {
      "completed_steps": 3260,
      "tcp_position": [
        0.31979001058315637,
        -0.11979621935336052,
        0.19991471146305959
      ],
      "shoe_position": [
        0.31999997728173524,
        -0.1450000520217937,
        -0.00010773877981826361
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003047888476709294
    },
    {
      "completed_steps": 3270,
      "tcp_position": [
        0.31979442369678135,
        -0.119800921072074,
        0.199916513206875
      ],
      "shoe_position": [
        0.31999997728177804,
        -0.1450000520219988,
        -0.0001077387798218294
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002981007893574062
    },
    {
      "completed_steps": 3280,
      "tcp_position": [
        0.31979874232587996,
        -0.11980546719765811,
        0.19991827106216384
      ],
      "shoe_position": [
        0.3199999772819709,
        -0.1450000520229227,
        -0.00010773877981651894
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002915943789907946
    },
    {
      "completed_steps": 3290,
      "tcp_position": [
        0.3198029684883469,
        -0.11980986869994321,
        0.19991998660358473
      ],
      "shoe_position": [
        0.3199999772820117,
        -0.1450000520231183,
        -0.00010773877982084202
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00028526035730803024
    },
    {
      "completed_steps": 3300,
      "tcp_position": [
        0.31980710427239106,
        -0.11981413564196733,
        0.1999216614248332
      ],
      "shoe_position": [
        0.3199999772821954,
        -0.14500005202399904,
        -0.00010773877981643649
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002790900458200647
    },
    {
      "completed_steps": 3310,
      "tcp_position": [
        0.31981115174728536,
        -0.11981827711943603,
        0.1999232970453761
      ],
      "shoe_position": [
        0.31999997728223434,
        -0.14500005202418545,
        -0.00010773877982093553
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002730754678140802
    },
    {
      "completed_steps": 3320,
      "tcp_position": [
        0.3198151129382233,
        -0.11982230126686037,
        0.19992489488580764
      ],
      "shoe_position": [
        0.3199999772824095,
        -0.14500005202502445,
        -0.00010773877981697748
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000267209362765797
    },
    {
      "completed_steps": 3330,
      "tcp_position": [
        0.31981898981845225,
        -0.11982621529367193,
        0.19992645626494726
      ],
      "shoe_position": [
        0.3199999772824466,
        -0.14500005202520205,
        -0.00010773877982137115
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002614851639060851
    },
    {
      "completed_steps": 3340,
      "tcp_position": [
        0.319822784306871,
        -0.11983002555354383,
        0.19992798240494417
      ],
      "shoe_position": [
        0.3199999772826136,
        -0.14500005202600127,
        -0.00010773877981766977
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00025589694866665075
    },
    {
      "completed_steps": 3350,
      "tcp_position": [
        0.31982649826806003,
        -0.11983373763540979,
        0.19992947443954656
      ],
      "shoe_position": [
        0.31999997728264895,
        -0.14500005202617047,
        -0.00010773877982187746
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000250439372987895
    },
    {
      "completed_steps": 3360,
      "tcp_position": [
        0.3198301335136156,
        -0.11983735646129039,
        0.19993093342330978
      ],
      "shoe_position": [
        0.31999997728280816,
        -0.1450000520269319,
        -0.00010773877981836177
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00024510760064973806
    },
    {
      "completed_steps": 3370,
      "tcp_position": [
        0.31983369180413534,
        -0.11984088638039839,
        0.19993236034060563
      ],
      "shoe_position": [
        0.3199999772828418,
        -0.1450000520270931,
        -0.00010773877982237194
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00023989723524349315
    },
    {
      "completed_steps": 3380,
      "tcp_position": [
        0.3198371748514456,
        -0.11984433125416967,
        0.19993375611388559
      ],
      "shoe_position": [
        0.31999997728304236,
        -0.14500005202805366,
        -0.00010773877981672524
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00023480425864472263
    },
    {
      "completed_steps": 3390,
      "tcp_position": [
        0.3198405843208445,
        -0.11984769453041963,
        0.19993512161100316
      ],
      "shoe_position": [
        0.31999997728307444,
        -0.14500005202820737,
        -0.00010773877982145149
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00022982497728387554
    },
    {
      "completed_steps": 3400,
      "tcp_position": [
        0.3198439218332399,
        -0.11985097930673626,
        0.19993645765157447
      ],
      "shoe_position": [
        0.31999997728326557,
        -0.14500005202912308,
        -0.00010773877981667512
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00022495597614518738
    },
    {
      "completed_steps": 3410,
      "tcp_position": [
        0.3198471889671442,
        -0.11985418838408182,
        0.19993776501244964
      ],
      "shoe_position": [
        0.31999997728329616,
        -0.14500005202926963,
        -0.00010773877982153717
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00022019407978990065
    },
    {
      "completed_steps": 3420,
      "tcp_position": [
        0.3198503872605082,
        -0.11985732431183985,
        0.19993904443239635
      ],
      "shoe_position": [
        0.3199999772834784,
        -0.145000052030142,
        -0.00010773877981722564
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00021553631951971402
    },
    {
      "completed_steps": 3430,
      "tcp_position": [
        0.319853518212406,
        -0.11986038942555063,
        0.19994029661610158
      ],
      "shoe_position": [
        0.3199999772835075,
        -0.14500005203028157,
        -0.00010773877982195639
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002109799057819125
    },
    {
      "completed_steps": 3440,
      "tcp_position": [
        0.31985658328458166,
        -0.1198633858784734,
        0.1999415222375887
      ],
      "shoe_position": [
        0.31999997728368107,
        -0.14500005203111263,
        -0.00010773877981790298
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00020652220500106931
    },
    {
      "completed_steps": 3450,
      "tcp_position": [
        0.31985958390287345,
        -0.11986631566796176,
        0.19994272194314683
      ],
      "shoe_position": [
        0.3199999772837089,
        -0.14500005203124566,
        -0.00010773877982242921
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00020216072012545477
    },
    {
      "completed_steps": 3460,
      "tcp_position": [
        0.3198625214585261,
        -0.11986918065750518,
        0.1999438963538428
      ],
      "shoe_position": [
        0.31999997728387436,
        -0.14500005203203745,
        -0.00010773877981858734
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00019789307428178836
    },
    {
      "completed_steps": 3470,
      "tcp_position": [
        0.31986539730941194,
        -0.11987198259515043,
        0.19994504606767996
      ],
      "shoe_position": [
        0.3199999772839009,
        -0.14500005203216415,
        -0.00010773877982290065
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001937169970224655
    },
    {
      "completed_steps": 3480,
      "tcp_position": [
        0.31986821278116373,
        -0.11987472312890449,
        0.1999461716614653
      ],
      "shoe_position": [
        0.3199999772841073,
        -0.14500005203315267,
        -0.00010773877981703663
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00018963031273899313
    },
    {
      "completed_steps": 3490,
      "tcp_position": [
        0.3198709691682321,
        -0.11987740381962284,
        0.19994727369242327
      ],
      "shoe_position": [
        0.31999997728413254,
        -0.1450000520332735,
        -0.00010773877982203219
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00018563093088293383
    },
    {
      "completed_steps": 3500,
      "tcp_position": [
        0.3198736677348792,
        -0.1198800261518009,
        0.19994835269960196
      ],
      "shoe_position": [
        0.3199999772843293,
        -0.14500005203421584,
        -0.00010773877981702818
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00018171683769167515
    },
    {
      "completed_steps": 3510,
      "tcp_position": [
        0.3198763097161112,
        -0.11988259154262275,
        0.19994940920510157
      ],
      "shoe_position": [
        0.31999997728435337,
        -0.14500005203433106,
        -0.00010773877982212398
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00017788608917128847
    },
    {
      "completed_steps": 3520,
      "tcp_position": [
        0.31987889631856037,
        -0.11988510134955523,
        0.19995044371515008
      ],
      "shoe_position": [
        0.3199999772845408,
        -0.1450000520352288,
        -0.00010773877981756028
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00017413680512858248
    },
    {
      "completed_steps": 3530,
      "tcp_position": [
        0.31988142872131575,
        -0.11988755687673129,
        0.19995145672105424
      ],
      "shoe_position": [
        0.3199999772845637,
        -0.14500005203533856,
        -0.00010773877982250863
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00017046716408166917
    },
    {
      "completed_steps": 3540,
      "tcp_position": [
        0.31988390807671474,
        -0.11988995938032702,
        0.19995244870004003
      ],
      "shoe_position": [
        0.31999997728474233,
        -0.14500005203619376,
        -0.00010773877981823688
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001668753988998011
    },
    {
      "completed_steps": 3550,
      "tcp_position": [
        0.3198863355110963,
        -0.11989231007309804,
        0.19995342011600226
      ],
      "shoe_position": [
        0.3199999772847642,
        -0.1450000520362983,
        -0.00010773877982296729
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001633597930554927
    },
    {
      "completed_steps": 3560,
      "tcp_position": [
        0.31988871212551484,
        -0.11989461012821684,
        0.19995437142017364
      ],
      "shoe_position": [
        0.3199999772849345,
        -0.14500005203711303,
        -0.00010773877981890481
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00015991867739219252
    },
    {
      "completed_steps": 3570,
      "tcp_position": [
        0.319891038996427,
        -0.11989686068252829,
        0.19995530305172962
      ],
      "shoe_position": [
        0.31999997728495533,
        -0.1450000520372126,
        -0.00010773877982341117
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001565504273160848
    },
    {
      "completed_steps": 3580,
      "tcp_position": [
        0.31989331717634606,
        -0.11989906283931963,
        0.19995621543833236
      ],
      "shoe_position": [
        0.3199999772851661,
        -0.14500005203822203,
        -0.00010773877981744113
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00015325346035056299
    },
    {
      "completed_steps": 3590,
      "tcp_position": [
        0.31989554769447026,
        -0.11990121767068691,
        0.1999571089966251
      ],
      "shoe_position": [
        0.31999997728518603,
        -0.145000052038317,
        -0.00010773877982259536
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00015002623399093662
    },
    {
      "completed_steps": 3600,
      "tcp_position": [
        0.31989773155728524,
        -0.11990332621956204,
        0.19995798413268712
      ],
      "shoe_position": [
        0.3199999772853869,
        -0.14500005203927938,
        -0.00010773877981745703
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00014686724381401416
    },
    {
      "completed_steps": 3610,
      "tcp_position": [
        0.3198998697491461,
        -0.11990538950146165,
        0.1999588412424459
      ],
      "shoe_position": [
        0.3199999772854058,
        -0.1450000520393699,
        -0.00010773877982268439
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001437750217984421
    },
    {
      "completed_steps": 3620,
      "tcp_position": [
        0.31990196323283243,
        -0.11990740850599904,
        0.1999596807120614
      ],
      "shoe_position": [
        0.31999997728559715,
        -0.14500005204028665,
        -0.00010773877981799213
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000140748134829112
    },
    {
      "completed_steps": 3630,
      "tcp_position": [
        0.31990401295009024,
        -0.11990938419820216,
        0.19996050291828024
      ],
      "shoe_position": [
        0.3199999772856151,
        -0.1450000520403729,
        -0.00010773877982305648
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00013778518334792958
    },
    {
      "completed_steps": 3640,
      "tcp_position": [
        0.3199060198221492,
        -0.11991131751966629,
        0.19996130822876465
      ],
      "shoe_position": [
        0.3199999772857975,
        -0.1450000520412462,
        -0.0001077387798186356
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00013488480013824084
    },
    {
      "completed_steps": 3650,
      "tcp_position": [
        0.3199079847502243,
        -0.11991320938957152,
        0.19996209700240053
      ],
      "shoe_position": [
        0.3199999772858147,
        -0.14500005204132835,
        -0.00010773877982347732
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00013204564921593683
    },
    {
      "completed_steps": 3660,
      "tcp_position": [
        0.3199099086160014,
        -0.11991506070558364,
        0.19996286958958465
      ],
      "shoe_position": [
        0.3199999772859886,
        -0.1450000520421604,
        -0.00010773877981927658
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00012926642481460513
    },
    {
      "completed_steps": 3670,
      "tcp_position": [
        0.31991179228210753,
        -0.11991687234466251,
        0.19996362633249598
      ],
      "shoe_position": [
        0.31999997728605334,
        -0.14500005204247007,
        -0.00010773877982119977
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001265458504471765
    },
    {
      "completed_steps": 3680,
      "tcp_position": [
        0.31991363659256283,
        -0.1199186451637854,
        0.19996436756535152
      ],
      "shoe_position": [
        0.31999997728621904,
        -0.1450000520432637,
        -0.00010773877981790734
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00012388267804112438
    },
    {
      "completed_steps": 3690,
      "tcp_position": [
        0.31991544237322284,
        -0.11992038000060598,
        0.1999650936146463
      ],
      "shoe_position": [
        0.3199999772862807,
        -0.14500005204355887,
        -0.0001077387798205683
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00012127568712711063
    },
    {
      "completed_steps": 3700,
      "tcp_position": [
        0.3199172104322049,
        -0.11992207767405522,
        0.1999658047993842
      ],
      "shoe_position": [
        0.31999997728643864,
        -0.1450000520443154,
        -0.00010773877981794995
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00011872368407989407
    },
    {
      "completed_steps": 3710,
      "tcp_position": [
        0.31991894156030126,
        -0.11992373898489274,
        0.19996650143129416
      ],
      "shoe_position": [
        0.3199999772864974,
        -0.14500005204459662,
        -0.00010773877982078792
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00011622550140535004
    },
    {
      "completed_steps": 3720,
      "tcp_position": [
        0.31992063653138214,
        -0.1199253647162193,
        0.19996718381503872
      ],
      "shoe_position": [
        0.3199999772866479,
        -0.14500005204531735,
        -0.00010773877981847435
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001137799970623023
    },
    {
      "completed_steps": 3730,
      "tcp_position": [
        0.3199222961027854,
        -0.11992695563395249,
        0.1999678522484123
      ],
      "shoe_position": [
        0.3199999772867038,
        -0.14500005204558525,
        -0.0001077387798212603
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00011138605382079051
    },
    {
      "completed_steps": 3740,
      "tcp_position": [
        0.31992392101569606,
        -0.11992851248727393,
        0.19996850702252716
      ],
      "shoe_position": [
        0.31999997728684726,
        -0.14500005204627178,
        -0.00010773877981910685
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010904257864974294
    },
    {
      "completed_steps": 3750,
      "tcp_position": [
        0.3199255119955144,
        -0.11993003600905021,
        0.19996914842200028
      ],
      "shoe_position": [
        0.31999997728690066,
        -0.14500005204652702,
        -0.00010773877982177507
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010674850212974733
    },
    {
      "completed_steps": 3760,
      "tcp_position": [
        0.3199270697522147,
        -0.11993152691623261,
        0.19996977672512234
      ],
      "shoe_position": [
        0.3199999772870374,
        -0.14500005204718114,
        -0.000107738779819731
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010450277789118411
    },
    {
      "completed_steps": 3770,
      "tcp_position": [
        0.3199285949806935,
        -0.1199329859102359,
        0.1999703922040274
      ],
      "shoe_position": [
        0.31999997728713636,
        -0.14500005204765484,
        -0.00010773877981960641
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010230438207344903
    },
    {
      "completed_steps": 3780,
      "tcp_position": [
        0.3199300883611089,
        -0.11993441367730305,
        0.19997099512485347
      ],
      "shoe_position": [
        0.31999997728726653,
        -0.14500005204827868,
        -0.00010773877981844248
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010015231280210895
    },
    {
      "completed_steps": 3790,
      "tcp_position": [
        0.31993155055921085,
        -0.11993581088885273,
        0.19997158574789603
      ],
      "shoe_position": [
        0.3199999772873608,
        -0.14500005204873032,
        -0.00010773877981911802
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009804558968588155
    },
    {
      "completed_steps": 3800,
      "tcp_position": [
        0.3199329822266624,
        -0.11993717820181564,
        0.19997216432775847
      ],
      "shoe_position": [
        0.3199999772874849,
        -0.1450000520493251,
        -0.00010773877981849867
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009598325332779214
    },
    {
      "completed_steps": 3810,
      "tcp_position": [
        0.3199343840013521,
        -0.11993851625895766,
        0.19997273111349526
      ],
      "shoe_position": [
        0.3199999772875748,
        -0.14500005204975533,
        -0.00010773877981942948
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009396436485355845
    },
    {
      "completed_steps": 3820,
      "tcp_position": [
        0.3199357565077009,
        -0.11993982568919351,
        0.19997328634875194
      ],
      "shoe_position": [
        0.31999997728769314,
        -0.14500005205032193,
        -0.00010773877981899928
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009198800545084628
    },
    {
      "completed_steps": 3830,
      "tcp_position": [
        0.3199371003569572,
        -0.11994110710789092,
        0.1999738302718972
      ],
      "shoe_position": [
        0.3199999772877788,
        -0.1450000520507318,
        -0.00010773877981996983
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009005327592518141
    },
    {
      "completed_steps": 3840,
      "tcp_position": [
        0.31993841614748775,
        -0.11994236111716584,
        0.19997436311615518
      ],
      "shoe_position": [
        0.3199999772878915,
        -0.14500005205127156,
        -0.00010773877981960675
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008815929626473816
    },
    {
      "completed_steps": 3850,
      "tcp_position": [
        0.31993970446506,
        -0.11994358830616911,
        0.19997488510972955
      ],
      "shoe_position": [
        0.31999997728797314,
        -0.14500005205166205,
        -0.0001077387798205501
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008630520521886775
    },
    {
      "completed_steps": 3860,
      "tcp_position": [
        0.31994096588311755,
        -0.11994478925136741,
        0.1999753964759252
      ],
      "shoe_position": [
        0.3199999772880806,
        -0.1450000520521763,
        -0.00010773877982021496
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008449015988600793
    },
    {
      "completed_steps": 3870,
      "tcp_position": [
        0.319942200963048,
        -0.11994596451681505,
        0.1999758974332672
      ],
      "shoe_position": [
        0.31999997728820617,
        -0.14500005205277805,
        -0.00010773877981848702
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000827133353137242
    },
    {
      "completed_steps": 3880,
      "tcp_position": [
        0.3199434102544461,
        -0.1199471146544204,
        0.19997638819561353
      ],
      "shoe_position": [
        0.31999997728830865,
        -0.1450000520532685,
        -0.00010773877981899863
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008097392410716493
    },
    {
      "completed_steps": 3890,
      "tcp_position": [
        0.31994459429536926,
        -0.11994824020420707,
        0.19997686897226696
      ],
      "shoe_position": [
        0.3199999772884284,
        -0.14500005205384217,
        -0.00010773877981811364
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007927113604675322
    },
    {
      "completed_steps": 3900,
      "tcp_position": [
        0.3199457536125857,
        -0.11994934169456642,
        0.19997733996808126
      ],
      "shoe_position": [
        0.319999977288526,
        -0.1450000520543097,
        -0.00010773877981906455
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007760419771805552
    },
    {
      "completed_steps": 3910,
      "tcp_position": [
        0.31994688872182125,
        -0.1199504196425079,
        0.19997780138356716
      ],
      "shoe_position": [
        0.3199999772886401,
        -0.14500005205485622,
        -0.0001077387798185015
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007597235214443446
    },
    {
      "completed_steps": 3920,
      "tcp_position": [
        0.3199480001279932,
        -0.11995147455390101,
        0.19997825341499118
      ],
      "shoe_position": [
        0.3199999772887331,
        -0.14500005205530164,
        -0.00010773877981955773
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007437485843602112
    },
    {
      "completed_steps": 3930,
      "tcp_position": [
        0.31994908832544583,
        -0.11995250692371355,
        0.19997869625447703
      ],
      "shoe_position": [
        0.3199999772888419,
        -0.14500005205582228,
        -0.00010773877981909381
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007281099143926208
    },
    {
      "completed_steps": 3940,
      "tcp_position": [
        0.3199501537981746,
        -0.11995351723624544,
        0.19997913009009843
      ],
      "shoe_position": [
        0.31999997728893054,
        -0.14500005205624655,
        -0.00010773877982013502
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007128004139997176
    },
    {
      "completed_steps": 3950,
      "tcp_position": [
        0.31995119702005004,
        -0.11995450596535515,
        0.19997955510597232
      ],
      "shoe_position": [
        0.31999997728903423,
        -0.14500005205674257,
        -0.000107738779819715
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006978131363099628
    },
    {
      "completed_steps": 3960,
      "tcp_position": [
        0.31995221845503197,
        -0.1199554735746842,
        0.19997997148235164
      ],
      "shoe_position": [
        0.3199999772891187,
        -0.14500005205714686,
        -0.00010773877982071732
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006831412818830006
    },
    {
      "completed_steps": 3970,
      "tcp_position": [
        0.3199532185573824,
        -0.11995642051787489,
        0.19998037939570926
      ],
      "shoe_position": [
        0.3199999772892651,
        -0.1450000520578483,
        -0.00010773877981776142
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006687781955484969
    },
    {
      "completed_steps": 3980,
      "tcp_position": [
        0.31995419777187084,
        -0.11995734723878507,
        0.19998077901882638
      ],
      "shoe_position": [
        0.3199999772893456,
        -0.14500005205823388,
        -0.00010773877981958292
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006547173633050266
    },
    {
      "completed_steps": 3990,
      "tcp_position": [
        0.31995515653397716,
        -0.11995825417169706,
        0.19998117052087516
      ],
      "shoe_position": [
        0.3199999772894852,
        -0.1450000520589026,
        -0.00010773877981748072
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006409524092905537
    },
    {
      "completed_steps": 4000,
      "tcp_position": [
        0.31995609527008817,
        -0.11995914174152388,
        0.19998155406749768
      ],
      "shoe_position": [
        0.319999977289562,
        -0.14500005205927013,
        -0.00010773877981964971
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000627477092825972
    },
    {
      "completed_steps": 4010,
      "tcp_position": [
        0.3199570143976905,
        -0.11996001036400887,
        0.19998192982088658
      ],
      "shoe_position": [
        0.31999997728969504,
        -0.14500005205990713,
        -0.00010773877981791706
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000614285305522376
    },
    {
      "completed_steps": 4020,
      "tcp_position": [
        0.319957914325559,
        -0.1199608604459241,
        0.19998229793986166
      ],
      "shoe_position": [
        0.31999997728976826,
        -0.14500005206025723,
        -0.00010773877982012273
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000060137106843922636
    },
    {
      "completed_steps": 4030,
      "tcp_position": [
        0.3199587954539413,
        -0.11996169238526248,
        0.1999826585799437
      ],
      "shoe_position": [
        0.319999977289895,
        -0.14500005206086414,
        -0.00010773877981854889
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000058872852931987776
    },
    {
      "completed_steps": 4040,
      "tcp_position": [
        0.31995965817473715,
        -0.1199625065714264,
        0.19998301189342751
      ],
      "shoe_position": [
        0.31999997728996477,
        -0.1450000520611977,
        -0.00010773877982068291
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000576351959887404
    },
    {
      "completed_steps": 4050,
      "tcp_position": [
        0.3199605028716751,
        -0.11996330338541254,
        0.19998335802945366
      ],
      "shoe_position": [
        0.3199999772900856,
        -0.14500005206177585,
        -0.00010773877981919746
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005642357531883021
    },
    {
      "completed_steps": 4060,
      "tcp_position": [
        0.319961329920485,
        -0.1199640831999939,
        0.19998369713407615
      ],
      "shoe_position": [
        0.319999977290152,
        -0.14500005206209365,
        -0.00010773877982123468
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005523744209960942
    },
    {
      "completed_steps": 4070,
      "tcp_position": [
        0.31996213968906545,
        -0.11996484637989631,
        0.19998402935033094
      ],
      "shoe_position": [
        0.3199999772903146,
        -0.14500005206287245,
        -0.0001077387798173415
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000054076259128270675
    },
    {
      "completed_steps": 4080,
      "tcp_position": [
        0.3199629325376492,
        -0.11996559328197119,
        0.19998435481830165
      ],
      "shoe_position": [
        0.3199999772903779,
        -0.1450000520631755,
        -0.00010773877982016716
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005293950057394003
    },
    {
      "completed_steps": 4090,
      "tcp_position": [
        0.31996370881896397,
        -0.1199663242553676,
        0.19998467367518208
      ],
      "shoe_position": [
        0.31999997729053287,
        -0.14500005206391797,
        -0.00010773877981714526
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005182665173404238
    },
    {
      "completed_steps": 4100,
      "tcp_position": [
        0.31996446887839003,
        -0.11996703964169687,
        0.19998498605534132
      ],
      "shoe_position": [
        0.3199999772905931,
        -0.14500005206420694,
        -0.00010773877982024819
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005073720879736551
    },
    {
      "completed_steps": 4110,
      "tcp_position": [
        0.31996521305411446,
        -0.11996773977519615,
        0.19998529209038202
      ],
      "shoe_position": [
        0.31999997729074087,
        -0.14500005206491426,
        -0.00010773877981762419
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004967067861193163
    },
    {
      "completed_steps": 4120,
      "tcp_position": [
        0.31996594167728154,
        -0.11996842498288803,
        0.19998559190920157
      ],
      "shoe_position": [
        0.3199999772907984,
        -0.1450000520651895,
        -0.00010773877982070435
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004862657845738994
    },
    {
      "completed_steps": 4130,
      "tcp_position": [
        0.3199666550721413,
        -0.11996909558473605,
        0.1999858856380501
      ],
      "shoe_position": [
        0.31999997729093915,
        -0.1450000520658633,
        -0.0001077387798182603
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004760443582234208
    },
    {
      "completed_steps": 4140,
      "tcp_position": [
        0.31996735355619144,
        -0.1199697518937976,
        0.19998617340058572
      ],
      "shoe_position": [
        0.31999997729099394,
        -0.1450000520661255,
        -0.00010773877982122229
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004660378818873546
    },
    {
      "completed_steps": 4150,
      "tcp_position": [
        0.31996803744032204,
        -0.11997039421637429,
        0.19998645531793174
      ],
      "shoe_position": [
        0.3199999772911281,
        -0.14500005206676744,
        -0.00010773877981892108
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004562418281558902
    },
    {
      "completed_steps": 4160,
      "tcp_position": [
        0.31996870702895075,
        -0.11997102285215722,
        0.19998673150872898
      ],
      "shoe_position": [
        0.3199999772911804,
        -0.14500005206701727,
        -0.00010773877982175046
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004466517653386635
    },
    {
      "completed_steps": 4170,
      "tcp_position": [
        0.3199693626201594,
        -0.11997163809437095,
        0.1999870020891898
      ],
      "shoe_position": [
        0.31999997729135554,
        -0.14500005206785593,
        -0.00010773877981716621
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000043726335540940215
    },
    {
      "completed_steps": 4180,
      "tcp_position": [
        0.31997000450582597,
        -0.11997224022991315,
        0.19998726717314852
      ],
      "shoe_position": [
        0.3199999772914053,
        -0.14500005206809422,
        -0.00010773877982075047
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000042807235202116794
    },
    {
      "completed_steps": 4190,
      "tcp_position": [
        0.31997063297175427,
        -0.11997282953949229,
        0.19998752687211266
      ],
      "shoe_position": [
        0.31999997729157215,
        -0.14500005206889371,
        -0.00010773877981703563
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004190745985479629
    },
    {
      "completed_steps": 4200,
      "tcp_position": [
        0.31997124829780027,
        -0.11997340629776133,
        0.19998778129531072
      ],
      "shoe_position": [
        0.3199999772916196,
        -0.1450000520691208,
        -0.00010773877982083623
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000041026602618604956
    },
    {
      "completed_steps": 4210,
      "tcp_position": [
        0.31997185075799645,
        -0.11997397077344973,
        0.19998803054974257
      ],
      "shoe_position": [
        0.3199999772917787,
        -0.14500005206988248,
        -0.00010773877981753797
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004016426520733691
    },
    {
      "completed_steps": 4220,
      "tcp_position": [
        0.31997244062067354,
        -0.11997452322949172,
        0.1999882747402233
      ],
      "shoe_position": [
        0.31999997729182394,
        -0.1450000520700989,
        -0.000107738779821272
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003932005774694709
    },
    {
      "completed_steps": 4230,
      "tcp_position": [
        0.31997301814857826,
        -0.11997506392315163,
        0.19998851396943076
      ],
      "shoe_position": [
        0.3199999772919755,
        -0.14500005207082442,
        -0.00010773877981819
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003849359859730538
    },
    {
      "completed_steps": 4240,
      "tcp_position": [
        0.31997358359899053,
        -0.11997559310614747,
        0.1999887483379506
      ],
      "shoe_position": [
        0.31999997729201857,
        -0.14500005207103056,
        -0.00010773877982177262
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003768451417619593
    },
    {
      "completed_steps": 4250,
      "tcp_position": [
        0.319974137223837,
        -0.11997611102477165,
        0.1999889779443194
      ],
      "shoe_position": [
        0.31999997729216306,
        -0.1450000520717218,
        -0.00010773877981885137
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000368924387882468
    },
    {
      "completed_steps": 4260,
      "tcp_position": [
        0.31997467926980255,
        -0.11997661792000751,
        0.19998920288506727
      ],
      "shoe_position": [
        0.31999997729220425,
        -0.14500005207191818,
        -0.00010773877982226895
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003611701445825814
    },
    {
      "completed_steps": 4270,
      "tcp_position": [
        0.31997520997843937,
        -0.11997711402764628,
        0.19998942325476005
      ],
      "shoe_position": [
        0.319999977292389,
        -0.1450000520728029,
        -0.00010773877981718991
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000035357890766035884
    },
    {
      "completed_steps": 4280,
      "tcp_position": [
        0.319975729586274,
        -0.1199775995783984,
        0.19998963914604
      ],
      "shoe_position": [
        0.3199999772924282,
        -0.14500005207299022,
        -0.00010773877982133011
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000034614724686762
    },
    {
      "completed_steps": 4290,
      "tcp_position": [
        0.31997623832491073,
        -0.11997807479800457,
        0.19998985064966532
      ],
      "shoe_position": [
        0.31999997729260415,
        -0.1450000520738336,
        -0.00010773877981711053
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003388718043456504
    },
    {
      "completed_steps": 4300,
      "tcp_position": [
        0.3199767364211351,
        -0.11997853990734315,
        0.19999005785455148
      ],
      "shoe_position": [
        0.3199999772926415,
        -0.14500005207401218,
        -0.00010773877982141781
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003317492930758297
    },
    {
      "completed_steps": 4310,
      "tcp_position": [
        0.3199772240970144,
        -0.119978995122537,
        0.19999026084780536
      ],
      "shoe_position": [
        0.3199999772928094,
        -0.14500005207481564,
        -0.0001077387798176355
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003247764953804146
    },
    {
      "completed_steps": 4320,
      "tcp_position": [
        0.31997770156999455,
        -0.11997944065505535,
        0.19999045971476617
      ],
      "shoe_position": [
        0.3199999772928449,
        -0.14500005207498576,
        -0.00010773877982184132
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000031795026145671975
    },
    {
      "completed_steps": 4330,
      "tcp_position": [
        0.3199781690529963,
        -0.1199798767118146,
        0.1999906545390412
      ],
      "shoe_position": [
        0.3199999772930049,
        -0.14500005207575117,
        -0.00010773877981829179
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000031126750794185665
    },
    {
      "completed_steps": 4340,
      "tcp_position": [
        0.31997862675451066,
        -0.11998030349527913,
        0.19999084540253953
      ],
      "shoe_position": [
        0.31999997729303875,
        -0.14500005207591324,
        -0.00010773877982231892
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000030472521648693187
    },
    {
      "completed_steps": 4350,
      "tcp_position": [
        0.3199790748786896,
        -0.11998072120355598,
        0.19999103238551075
      ],
      "shoe_position": [
        0.3199999772932403,
        -0.14500005207687872,
        -0.00010773877981663159
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002983204323899738
    },
    {
      "completed_steps": 4360,
      "tcp_position": [
        0.31997951362543564,
        -0.1199811300304902,
        0.1999912155665753
      ],
      "shoe_position": [
        0.3199999772932726,
        -0.14500005207703323,
        -0.00010773877982138586
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002920502632571251
    },
    {
      "completed_steps": 4370,
      "tcp_position": [
        0.31997994319049206,
        -0.11998153016575766,
        0.1999913950227601
      ],
      "shoe_position": [
        0.3199999772934647,
        -0.1450000520779536,
        -0.00010773877981659336
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000028591187766113728
    },
    {
      "completed_steps": 4380,
      "tcp_position": [
        0.31998036376552763,
        -0.1199819217949551,
        0.19999157082953145
      ],
      "shoe_position": [
        0.31999997729349544,
        -0.14500005207810093,
        -0.00010773877982148183
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000027990250386298627
    },
    {
      "completed_steps": 4390,
      "tcp_position": [
        0.31998077553822235,
        -0.11998230509968821,
        0.19999174306082584
      ],
      "shoe_position": [
        0.3199999772936785,
        -0.14500005207897768,
        -0.00010773877981714227
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000027401942854665616
    },
    {
      "completed_steps": 4400,
      "tcp_position": [
        0.31998117869234904,
        -0.1199826802576598,
        0.19999191178908227
      ],
      "shoe_position": [
        0.31999997729370794,
        -0.14500005207911792,
        -0.00010773877982189849
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000026825999557755777
    },
    {
      "completed_steps": 4410,
      "tcp_position": [
        0.31998157340785577,
        -0.1199830474427527,
        0.19999207708527272
      ],
      "shoe_position": [
        0.3199999772938825,
        -0.14500005207995303,
        -0.00010773877981782996
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002626216047945486
    },
    {
      "completed_steps": 4420,
      "tcp_position": [
        0.3199819598609443,
        -0.11998340682511352,
        0.19999223901893184
      ],
      "shoe_position": [
        0.31999997729391044,
        -0.14500005208008673,
        -0.00010773877982237972
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002571017108272327
    },
    {
      "completed_steps": 4430,
      "tcp_position": [
        0.31998233822414857,
        -0.11998375857123333,
        0.19999239765818655
      ],
      "shoe_position": [
        0.31999997729407675,
        -0.1450000520808824,
        -0.00010773877981851321
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000251697821932924
    },
    {
      "completed_steps": 4440,
      "tcp_position": [
        0.3199827086664101,
        -0.11998410284402772,
        0.1999925530697857
      ],
      "shoe_position": [
        0.3199999772941033,
        -0.14500005208100977,
        -0.0001077387798228494
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000024640749885937174
    },
    {
      "completed_steps": 4450,
      "tcp_position": [
        0.3199830713531533,
        -0.11998443980291311,
        0.19999270531912555
      ],
      "shoe_position": [
        0.31999997729431073,
        -0.14500005208200314,
        -0.00010773877981696189
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000024122835374468666
    },
    {
      "completed_steps": 4460,
      "tcp_position": [
        0.31998342644635785,
        -0.11998476960388309,
        0.19999285447028087
      ],
      "shoe_position": [
        0.3199999772943361,
        -0.14500005208212458,
        -0.00010773877982198255
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002361580490210697
    },
    {
      "completed_steps": 4470,
      "tcp_position": [
        0.3199837741046311,
        -0.11998509239958327,
        0.19999300058602942
      ],
      "shoe_position": [
        0.3199999772945338,
        -0.14500005208307162,
        -0.0001077387798169476
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000023119429634827487
    },
    {
      "completed_steps": 4480,
      "tcp_position": [
        0.3199841144832766,
        -0.11998540833938287,
        0.19999314372787985
      ],
      "shoe_position": [
        0.3199999772945579,
        -0.14500005208318734,
        -0.00010773877982206969
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000022633485558344656
    },
    {
      "completed_steps": 4490,
      "tcp_position": [
        0.31998444773436446,
        -0.11998571756944584,
        0.19999328395609575
      ],
      "shoe_position": [
        0.3199999772947463,
        -0.1450000520840895,
        -0.00010773877981748834
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000022157753375661065
    },
    {
      "completed_steps": 4500,
      "tcp_position": [
        0.3199847740067974,
        -0.11998602023280142,
        0.1999934213297229
      ],
      "shoe_position": [
        0.3199999772947693,
        -0.14500005208419975,
        -0.00010773877982246141
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002169201840647026
    },
    {
      "completed_steps": 4510,
      "tcp_position": [
        0.31998510894552024,
        -0.1199864718306127,
        0.19999357702730158
      ],
      "shoe_position": [
        0.31999997729494883,
        -0.14500005208505914,
        -0.00010773877981816182
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000021118935787003767
    },
    {
      "completed_steps": 4520,
      "tcp_position": [
        0.31998546982754694,
        -0.11998716224230911,
        0.19999376888047876
      ],
      "shoe_position": [
        0.3199999772949708,
        -0.14500005208516423,
        -0.00010773877982291676
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002036567662842895
    },
    {
      "completed_steps": 4530,
      "tcp_position": [
        0.3199858394899423,
        -0.11998788572799939,
        0.19999397138501626
      ],
      "shoe_position": [
        0.31999997729514196,
        -0.14500005208598307,
        -0.00010773877981881876
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000195862153011086
    },
    {
      "completed_steps": 4540,
      "tcp_position": [
        0.3199862046709325,
        -0.11998854819476427,
        0.19999416886990073
      ],
      "shoe_position": [
        0.3199999772951629,
        -0.14500005208608316,
        -0.00010773877982335294
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000018853567977258972
    },
    {
      "completed_steps": 4550,
      "tcp_position": [
        0.319986560025313,
        -0.11998913214676366,
        0.19999435610833666
      ],
      "shoe_position": [
        0.31999997729537477,
        -0.14500005208709754,
        -0.00010773877981736216
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000018182317417247962
    },
    {
      "completed_steps": 4560,
      "tcp_position": [
        0.31998690411405467,
        -0.119989642889596,
        0.1999945322502315
      ],
      "shoe_position": [
        0.31999997729539476,
        -0.14500005208719294,
        -0.00010773877982254476
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001756895705910742
    },
    {
      "completed_steps": 4570,
      "tcp_position": [
        0.31998723689808295,
        -0.11999008978779922,
        0.19999469784981383
      ],
      "shoe_position": [
        0.3199999772955967,
        -0.14500005208815997,
        -0.0001077387798173879
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000017006524424654106
    },
    {
      "completed_steps": 4580,
      "tcp_position": [
        0.31998755875145796,
        -0.11999048196102005,
        0.19999485381335566
      ],
      "shoe_position": [
        0.3199999772956157,
        -0.145000052088251,
        -0.00010773877982263992
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000016488206945792773
    },
    {
      "completed_steps": 4590,
      "tcp_position": [
        0.31998787014667884,
        -0.11999082762198629,
        0.19999500107542006
      ],
      "shoe_position": [
        0.3199999772958081,
        -0.14500005208917227,
        -0.00010773877981792733
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001600797010789427
    },
    {
      "completed_steps": 4600,
      "tcp_position": [
        0.3199881715652895,
        -0.1199911340233844,
        0.19999514050588246
      ],
      "shoe_position": [
        0.31999997729582613,
        -0.14500005208925895,
        -0.00010773877982301369
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000015560594208667256
    },
    {
      "completed_steps": 4610,
      "tcp_position": [
        0.31998846347262677,
        -0.11999140747009332,
        0.19999527288558608
      ],
      "shoe_position": [
        0.31999997729600954,
        -0.14500005209013658,
        -0.00010773877981858203
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001514161961987308
    },
    {
      "completed_steps": 4620,
      "tcp_position": [
        0.319988746309819,
        -0.11999165336020091,
        0.19999539890372475
      ],
      "shoe_position": [
        0.31999997729602686,
        -0.14500005209021913,
        -0.0001077387798234431
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000014747271800574346
    },
    {
      "completed_steps": 4630,
      "tcp_position": [
        0.3199890204912316,
        -0.119991876258215,
        0.19999551916324226
      ],
      "shoe_position": [
        0.31999997729620155,
        -0.1450000520910553,
        -0.00010773877981922011
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000014374376210250778
    },
    {
      "completed_steps": 4640,
      "tcp_position": [
        0.31998928640432117,
        -0.11999207998914434,
        0.19999563418938207
      ],
      "shoe_position": [
        0.3199999772962665,
        -0.14500005209136643,
        -0.00010773877982114762
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000014020271276798328
    },
    {
      "completed_steps": 4650,
      "tcp_position": [
        0.3199895444107582,
        -0.11999226773869733,
        0.1999957444391298
      ],
      "shoe_position": [
        0.319999977296433,
        -0.14500005209216396,
        -0.00010773877981783152
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000013682726686077171
    },
    {
      "completed_steps": 4660,
      "tcp_position": [
        0.319989794848168,
        -0.1199924421491924,
        0.19999585031039596
      ],
      "shoe_position": [
        0.319999977296495,
        -0.1450000520924606,
        -0.00010773877982050706
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000013359871127921546
    },
    {
      "completed_steps": 4670,
      "tcp_position": [
        0.31999003803207926,
        -0.11999260540592721,
        0.19999595215038735
      ],
      "shoe_position": [
        0.31999997729665364,
        -0.14500005209322092,
        -0.00010773877981787894
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000013050130759574647
    },
    {
      "completed_steps": 4680,
      "tcp_position": [
        0.31999027425785914,
        -0.11999275931228204,
        0.19999605026297748
      ],
      "shoe_position": [
        0.31999997729671265,
        -0.14500005209350358,
        -0.00010773877982073214
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012752177906801417
    },
    {
      "completed_steps": 4690,
      "tcp_position": [
        0.3199905038025196,
        -0.11999290535374761,
        0.19999614491505896
      ],
      "shoe_position": [
        0.31999997729686397,
        -0.14500005209422787,
        -0.00010773877981840884
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012464888765500355
    },
    {
      "completed_steps": 4700,
      "tcp_position": [
        0.3199907269263586,
        -0.119993044751898,
        0.1999962363419665
      ],
      "shoe_position": [
        0.31999997729692015,
        -0.14500005209449715,
        -0.00010773877982120814
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012187308673880046
    },
    {
      "completed_steps": 4710,
      "tcp_position": [
        0.319990928429926,
        -0.11999302332363682,
        0.1999963036794873
      ],
      "shoe_position": [
        0.3199999772970642,
        -0.14500005209518713,
        -0.00010773877981904589
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012026228919204346
    },
    {
      "completed_steps": 4720,
      "tcp_position": [
        0.3199910914909218,
        -0.11999275226662322,
        0.19999632939926193
      ],
      "shoe_position": [
        0.3199999772971178,
        -0.14500005209544364,
        -0.00010773877982172364
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012056719407683176
    },
    {
      "completed_steps": 4730,
      "tcp_position": [
        0.3199912335761464,
        -0.11999243789043772,
        0.19999633917638188
      ],
      "shoe_position": [
        0.31999997729725516,
        -0.14500005209610095,
        -0.00010773877981966371
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012142376940952645
    },
    {
      "completed_steps": 4740,
      "tcp_position": [
        0.31999136822884955,
        -0.11999217484489465,
        0.19999634883447537
      ],
      "shoe_position": [
        0.31999997729735463,
        -0.14500005209657701,
        -0.00010773877981954193
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012209485464382892
    },
    {
      "completed_steps": 4750,
      "tcp_position": [
        0.31999150109098756,
        -0.11999198117391327,
        0.19999636376120844
      ],
      "shoe_position": [
        0.31999997729748564,
        -0.14500005209720399,
        -0.0001077387798183755
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012237453115754144
    },
    {
      "completed_steps": 4760,
      "tcp_position": [
        0.3199916339059262,
        -0.1199918520664165,
        0.1999963849702205
      ],
      "shoe_position": [
        0.3199999772975804,
        -0.14500005209765782,
        -0.00010773877981905185
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012224925032058581
    },
    {
      "completed_steps": 4770,
      "tcp_position": [
        0.3199917670146611,
        -0.11999177858776014,
        0.19999641206674557
      ],
      "shoe_position": [
        0.3199999772977052,
        -0.1450000520982555,
        -0.000107738779818426
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012175669667285491
    },
    {
      "completed_steps": 4780,
      "tcp_position": [
        0.31999190033752345,
        -0.11999175198899309,
        0.19999644429659885
      ],
      "shoe_position": [
        0.31999997729779545,
        -0.1450000520986879,
        -0.00010773877981936906
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012094512990658515
    },
    {
      "completed_steps": 4790,
      "tcp_position": [
        0.31999203368709506,
        -0.11999176437797694,
        0.19999648086903812
      ],
      "shoe_position": [
        0.31999997729791435,
        -0.14500005209925731,
        -0.00010773877981894536
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000011986321125895649
    },
    {
      "completed_steps": 4800,
      "tcp_position": [
        0.3199921668572755,
        -0.11999180878100059,
        0.19999652104992263
      ],
      "shoe_position": [
        0.3199999772980004,
        -0.14500005209966918,
        -0.00010773877981991843
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000011855685862897291
    },
    {
      "completed_steps": 4810,
      "tcp_position": [
        0.31999229964872516,
        -0.11999187913766966,
        0.19999656418660283
      ],
      "shoe_position": [
        0.31999997729811375,
        -0.14500005210021158,
        -0.00010773877981955152
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000011706777030609565
    },
    {
      "completed_steps": 4820,
      "tcp_position": [
        0.31999243187721177,
        -0.1199919702657899,
        0.1999966097111664
      ],
      "shoe_position": [
        0.3199999772981958,
        -0.145000052100604,
        -0.00010773877982049316
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001154327390292985
    },
    {
      "completed_steps": 4830,
      "tcp_position": [
        0.3199925633765529,
        -0.11999207779305186,
        0.19999665713564185
      ],
      "shoe_position": [
        0.31999997729830393,
        -0.14500005210112077,
        -0.00010773877982015131
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000011368354029499093
    },
    {
      "completed_steps": 4840,
      "tcp_position": [
        0.31999269399915287,
        -0.11999219806703385,
        0.19999670604400843
      ],
      "shoe_position": [
        0.31999997729843027,
        -0.14500005210172548,
        -0.00010773877981841831
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001118471959689564
    },
    {
      "completed_steps": 4850,
      "tcp_position": [
        0.31999282361526354,
        -0.11999232805840387,
        0.1999967560832553
      ],
      "shoe_position": [
        0.31999997729853313,
        -0.1450000521022184,
        -0.00010773877981893473
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010994643313301023
    },
    {
      "completed_steps": 4860,
      "tcp_position": [
        0.31999295211161244,
        -0.11999246526783335,
        0.19999680695465133
      ],
      "shoe_position": [
        0.3199999772986535,
        -0.1450000521027949,
        -0.00010773877981804039
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010800021210419319
    },
    {
      "completed_steps": 4870,
      "tcp_position": [
        0.3199930793898041,
        -0.11999260764197221,
        0.19999685840577294
      ],
      "shoe_position": [
        0.31999997729875157,
        -0.1450000521032648,
        -0.00010773877981899421
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010602425051953058
    },
    {
      "completed_steps": 4880,
      "tcp_position": [
        0.3199932053647205,
        -0.11999275350027729,
        0.19999691022349284
      ],
      "shoe_position": [
        0.31999997729886626,
        -0.14500005210381406,
        -0.0001077387798184264
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010403150757214709
    },
    {
      "completed_steps": 4890,
      "tcp_position": [
        0.319993329963024,
        -0.11999290147257784,
        0.19999696222794155
      ],
      "shoe_position": [
        0.3199999772989598,
        -0.14500005210426173,
        -0.00010773877981948755
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010203261434646528
    },
    {
      "completed_steps": 4900,
      "tcp_position": [
        0.31999345312181277,
        -0.11999305044641097,
        0.19999701426736682
      ],
      "shoe_position": [
        0.31999997729906904,
        -0.14500005210478495,
        -0.0001077387798190271
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010003624765165193
    },
    {
      "completed_steps": 4910,
      "tcp_position": [
        0.3199935747874278,
        -0.11999319952288265,
        0.19999706621379007
      ],
      "shoe_position": [
        0.319999977299158,
        -0.14500005210521136,
        -0.00010773877982007679
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000009804945035406251
    },
    {
      "completed_steps": 4920,
      "tcp_position": [
        0.3199936949144051,
        -0.11999334797981766,
        0.19999711795934244
      ],
      "shoe_position": [
        0.3199999772992623,
        -0.14500005210570982,
        -0.00010773877981964994
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000009607790339989041
    },
    {
      "completed_steps": 4930,
      "tcp_position": [
        0.31999381346455996,
        -0.11999349524105882,
        0.19999716941318316
      ],
      "shoe_position": [
        0.3199999772993472,
        -0.14500005210611608,
        -0.00010773877982065438
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000009412615543063315
    },
    {
      "completed_steps": 4940,
      "tcp_position": [
        0.31999393040618335,
        -0.11999364085092835,
        0.19999722049890695
      ],
      "shoe_position": [
        0.3199999772994943,
        -0.14500005210682096,
        -0.000107738779817681
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00000921978157772402
    },
    {
      "completed_steps": 4950,
      "tcp_position": [
        0.3199940457133386,
        -0.1199937844530015,
        0.19999727115236338
      ],
      "shoe_position": [
        0.31999997729957524,
        -0.14500005210720843,
        -0.00010773877981951249
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000009029571615556102
    },
    {
      "completed_steps": 4960,
      "tcp_position": [
        0.31999415936524245,
        -0.11999392577247989,
        0.19999732131982098
      ],
      "shoe_position": [
        0.3199999772997155,
        -0.14500005210788042,
        -0.00010773877981740546
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00000884220458023796
    },
    {
      "completed_steps": 4970,
      "tcp_position": [
        0.31999427134572034,
        -0.1199940646015621,
        0.19999737095642
      ],
      "shoe_position": [
        0.3199999772997927,
        -0.14500005210824982,
        -0.00010773877981958779
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008657846419177506
    },
    {
      "completed_steps": 4980,
      "tcp_position": [
        0.31999438164272564,
        -0.11999420078730966,
        0.1999974200248679
      ],
      "shoe_position": [
        0.31999997729992635,
        -0.14500005210889003,
        -0.00010773877981784978
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008476619489660643
    },
    {
      "completed_steps": 4990,
      "tcp_position": [
        0.31999449024791216,
        -0.11999433422159102,
        0.19999746849433758
      ],
      "shoe_position": [
        0.3199999772999999,
        -0.14500005210924194,
        -0.00010773877982006627
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008298610363677166
    },
    {
      "completed_steps": 5000,
      "tcp_position": [
        0.3199945971562547,
        -0.11999446483275193,
        0.19999751633953533
      ],
      "shoe_position": [
        0.31999997730012725,
        -0.14500005210985184,
        -0.00010773877981848597
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008123876310222989
    },
    {
      "completed_steps": 5010,
      "tcp_position": [
        0.32008148415197063,
        -0.11991276357895934,
        0.20027791659560967
      ],
      "shoe_position": [
        0.31999997730019725,
        -0.14500005211018707,
        -0.0001077387798206297
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.24719264419198148
    },
    {
      "completed_steps": 5020,
      "tcp_position": [
        0.3206567780867211,
        -0.11915778357348604,
        0.20169224144515602
      ],
      "shoe_position": [
        0.3199999773003187,
        -0.14500005211076805,
        -0.00010773877981912845
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.24588124372205886
    },
    {
      "completed_steps": 5030,
      "tcp_position": [
        0.3219064327087588,
        -0.11714953124686901,
        0.20400028176502832
      ],
      "shoe_position": [
        0.3199999773003855,
        -0.1450000521110875,
        -0.00010773877982117351
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.24295777687656278
    },
    {
      "completed_steps": 5040,
      "tcp_position": [
        0.3238745259848894,
        -0.11381163741692844,
        0.2068832084373623
      ],
      "shoe_position": [
        0.31999997730054885,
        -0.14500005211187014,
        -0.00010773877981724816
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.2384461559710023
    },
    {
      "completed_steps": 5050,
      "tcp_position": [
        0.3265923624315189,
        -0.10920025466205777,
        0.21017025611039566
      ],
      "shoe_position": [
        0.31999997730061247,
        -0.14500005211217476,
        -0.00010773877982008954
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.2324427261407486
    },
    {
      "completed_steps": 5060,
      "tcp_position": [
        0.32995094684504833,
        -0.10353270492147554,
        0.21373740334943744
      ],
      "shoe_position": [
        0.31999997730076823,
        -0.14500005211292089,
        -0.00010773877981705542
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.2252180355465184
    },
    {
      "completed_steps": 5070,
      "tcp_position": [
        0.33373170426405074,
        -0.0971106886765921,
        0.21755753206747241
      ],
      "shoe_position": [
        0.31999997730082885,
        -0.1450000521132113,
        -0.00010773877982017866
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.21712478534661211
    },
    {
      "completed_steps": 5080,
      "tcp_position": [
        0.3377308040866108,
        -0.09019963336372676,
        0.22164304881894578
      ],
      "shoe_position": [
        0.3199999773009773,
        -0.14500005211392208,
        -0.00010773877981754144
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.20846795207547866
    },
    {
      "completed_steps": 5090,
      "tcp_position": [
        0.3418747285964008,
        -0.08303445335235937,
        0.22593504503332296
      ],
      "shoe_position": [
        0.31999997730103513,
        -0.14500005211419872,
        -0.0001077387798206394
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.19950733732193388
    },
    {
      "completed_steps": 5100,
      "tcp_position": [
        0.3461436550021236,
        -0.07579581260551854,
        0.23036167416241923
      ],
      "shoe_position": [
        0.31999997730117663,
        -0.14500005211487585,
        -0.00010773877981820758
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.19044326456486385
    },
    {
      "completed_steps": 5110,
      "tcp_position": [
        0.35052715572955895,
        -0.06858958199006342,
        0.23488371014631607
      ],
      "shoe_position": [
        0.31999997730123175,
        -0.1450000521151394,
        -0.00010773877982118667
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.18139870199632976
    },
    {
      "completed_steps": 5120,
      "tcp_position": [
        0.35500193446558126,
        -0.06143863375353557,
        0.23946812232629971
      ],
      "shoe_position": [
        0.3199999773013666,
        -0.14500005211578448,
        -0.00010773877981885965
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.17242416152559317
    },
    {
      "completed_steps": 5130,
      "tcp_position": [
        0.3595072878760672,
        -0.05429953326947121,
        0.24404953055827291
      ],
      "shoe_position": [
        0.319999977301419,
        -0.14500005211603553,
        -0.00010773877982169745
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.16352504993244582
    },
    {
      "completed_steps": 5140,
      "tcp_position": [
        0.3639969655724369,
        -0.04711894170454533,
        0.2485709672564338
      ],
      "shoe_position": [
        0.31999997730159496,
        -0.14500005211687833,
        -0.00010773877981708268
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.15468673374098332
    },
    {
      "completed_steps": 5150,
      "tcp_position": [
        0.368450144339942,
        -0.03984910402138724,
        0.25299668869219016
      ],
      "shoe_position": [
        0.319999977301645,
        -0.14500005211711778,
        -0.00010773877982068566
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.14588469456849057
    },
    {
      "completed_steps": 5160,
      "tcp_position": [
        0.3728491705171667,
        -0.032447671566910516,
        0.25729933415813766
      ],
      "shoe_position": [
        0.31999997730181273,
        -0.14500005211792125,
        -0.00010773877981695838
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.13709439621941513
    },
    {
      "completed_steps": 5170,
      "tcp_position": [
        0.3771725383216287,
        -0.024879210261691275,
        0.2614549624113132
      ],
      "shoe_position": [
        0.31999997730186036,
        -0.14500005211814948,
        -0.00010773877982078019
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.12829586346187088
    },
    {
      "completed_steps": 5180,
      "tcp_position": [
        0.38139434304902015,
        -0.01711616865154771,
        0.2654414436652654
      ],
      "shoe_position": [
        0.3199999773020202,
        -0.14500005211891492,
        -0.0001077387798174688
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.11947518149283956
    },
    {
      "completed_steps": 5190,
      "tcp_position": [
        0.3854847832838411,
        -0.009138656649094076,
        0.26923758152058797
      ],
      "shoe_position": [
        0.31999997730206564,
        -0.1450000521191324,
        -0.00010773877982122099
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.11062444369583015
    },
    {
      "completed_steps": 5200,
      "tcp_position": [
        0.3894109088141686,
        -0.0009342331023610829,
        0.27282242604683415
      ],
      "shoe_position": [
        0.31999997730221796,
        -0.14500005211986153,
        -0.00010773877981812497
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.10174166222328385
    },
    {
      "completed_steps": 5210,
      "tcp_position": [
        0.39313533217232505,
        0.00750300566206004,
        0.2761730129549409
      ],
      "shoe_position": [
        0.31999997730226126,
        -0.14500005212006867,
        -0.00010773877982172464
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.09283029384732264
    },
    {
      "completed_steps": 5220,
      "tcp_position": [
        0.39661516995128654,
        0.01617294978576956,
        0.279263126326007
      ],
      "shoe_position": [
        0.3199999773024065,
        -0.14500005212076333,
        -0.0001077387798187911
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.08389859596494575
    },
    {
      "completed_steps": 5230,
      "tcp_position": [
        0.3998010690452998,
        0.025069754351406796,
        0.28206106043208634
      ],
      "shoe_position": [
        0.3199999773024478,
        -0.1450000521209607,
        -0.00010773877982222484
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.07495885042200136
    },
    {
      "completed_steps": 5240,
      "tcp_position": [
        0.40263214546578757,
        0.03418143346323412,
        0.28452411157228297
      ],
      "shoe_position": [
        0.31999997730263335,
        -0.1450000521218498,
        -0.000107738779817122
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.06602635440660197
    },
    {
      "completed_steps": 5250,
      "tcp_position": [
        0.40502671863189404,
        0.04348791056550127,
        0.28659316742951907
      ],
      "shoe_position": [
        0.31999997730267277,
        -0.145000052122038,
        -0.00010773877982128015
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.05711702031103063
    },
    {
      "completed_steps": 5260,
      "tcp_position": [
        0.40686243219364293,
        0.052955797551190044,
        0.2881717002663938
      ],
      "shoe_position": [
        0.31999997730284974,
        -0.1450000521228856,
        -0.0001077387798170401
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.04823926455596876
    },
    {
      "completed_steps": 5270,
      "tcp_position": [
        0.4078908586478317,
        0.06251408187581939,
        0.28907288460211605
      ],
      "shoe_position": [
        0.31999997730288726,
        -0.14500005212306505,
        -0.00010773877982136768
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.03936720643906737
    },
    {
      "completed_steps": 5280,
      "tcp_position": [
        0.40800905016904987,
        0.07221993243389663,
        0.2892298640800227
      ],
      "shoe_position": [
        0.31999997730305596,
        -0.1450000521238725,
        -0.00010773877981755785
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.030349092729821753
    },
    {
      "completed_steps": 5290,
      "tcp_position": [
        0.40733739860122686,
        0.08219022388928453,
        0.2887715959620881
      ],
      "shoe_position": [
        0.3199999773030917,
        -0.14500005212404343,
        -0.00010773877982178484
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.021165217671198604
    },
    {
      "completed_steps": 5300,
      "tcp_position": [
        0.40620472210997455,
        0.09155916761728988,
        0.287875745599383
      ],
      "shoe_position": [
        0.3199999773032523,
        -0.14500005212481262,
        -0.00010773877981821391
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013106242654598416
    },
    {
      "completed_steps": 5310,
      "tcp_position": [
        0.4049968946123446,
        0.09926963583608547,
        0.286742606689818
      ],
      "shoe_position": [
        0.31999997730328633,
        -0.14500005212497546,
        -0.00010773877982226356
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008424080516732196
    },
    {
      "completed_steps": 5320,
      "tcp_position": [
        0.40401778097051333,
        0.1048335793708127,
        0.2855754673775084
      ],
      "shoe_position": [
        0.31999997730343943,
        -0.1450000521257083,
        -0.000107738779818884
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008401897996204475
    },
    {
      "completed_steps": 5330,
      "tcp_position": [
        0.403450410917852,
        0.10822654898365414,
        0.2845470756311509
      ],
      "shoe_position": [
        0.31999997730347196,
        -0.14500005212586345,
        -0.00010773877982274371
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010012858756513995
    },
    {
      "completed_steps": 5340,
      "tcp_position": [
        0.40327099840927816,
        0.10974115648080805,
        0.28372089419889057
      ],
      "shoe_position": [
        0.31999997730366503,
        -0.14500005212678796,
        -0.00010773877981730247
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010928614450900261
    },
    {
      "completed_steps": 5350,
      "tcp_position": [
        0.4033493469734497,
        0.10996394845059501,
        0.2831245773964929
      ],
      "shoe_position": [
        0.31999997730369595,
        -0.14500005212693592,
        -0.0001077387798218524
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010966374869634234
    },
    {
      "completed_steps": 5360,
      "tcp_position": [
        0.4035442810014662,
        0.10953781026502926,
        0.2827640973866936
      ],
      "shoe_position": [
        0.3199999773038799,
        -0.1450000521278173,
        -0.00010773877981725885
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010543812727480416
    },
    {
      "completed_steps": 5370,
      "tcp_position": [
        0.4038157712953663,
        0.10876969300895406,
        0.2826321178767992
      ],
      "shoe_position": [
        0.31999997730390944,
        -0.14500005212795836,
        -0.00010773877982193992
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009919459187234176
    },
    {
      "completed_steps": 5380,
      "tcp_position": [
        0.40412394458746265,
        0.10789651845171737,
        0.28270231894626896
      ],
      "shoe_position": [
        0.3199999773040848,
        -0.14500005212879802,
        -0.00010773877981778152
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009309374324096068
    },
    {
      "completed_steps": 5390,
      "tcp_position": [
        0.4044351280193862,
        0.1070787948197288,
        0.28293688133164674
      ],
      "shoe_position": [
        0.3199999773041129,
        -0.14500005212893238,
        -0.0001077387798223369
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008854658017356657
    },
    {
      "completed_steps": 5400,
      "tcp_position": [
        0.40472528757882154,
        0.10640450194376154,
        0.28329239790023825
      ],
      "shoe_position": [
        0.31999997730428004,
        -0.14500005212973222,
        -0.00010773877981844031
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008613122069476502
    },
    {
      "completed_steps": 5410,
      "tcp_position": [
        0.4049767008483122,
        0.10591465814017519,
        0.2837222999600679
      ],
      "shoe_position": [
        0.31999997730430674,
        -0.14500005212986022,
        -0.0001077387798227984
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008579408443561443
    },
    {
      "completed_steps": 5420,
      "tcp_position": [
        0.4051887944109668,
        0.10558538758250498,
        0.28418324704407283
      ],
      "shoe_position": [
        0.3199999773045152,
        -0.14500005213085868,
        -0.00010773877981688311
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008695958700328816
    },
    {
      "completed_steps": 5430,
      "tcp_position": [
        0.40537581372332504,
        0.10534355612377283,
        0.2846400185116343
      ],
      "shoe_position": [
        0.3199999773045407,
        -0.14500005213098072,
        -0.00010773877982192953
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008887223245992431
    },
    {
      "completed_steps": 5440,
      "tcp_position": [
        0.4055490136362034,
        0.10513177801020018,
        0.28506703368481773
      ],
      "shoe_position": [
        0.31999997730473934,
        -0.14500005213193254,
        -0.00010773877981687079
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009099534506985628
    },
    {
      "completed_steps": 5450,
      "tcp_position": [
        0.4057122338004588,
        0.10493353541641189,
        0.2854466894027119
      ],
      "shoe_position": [
        0.3199999773047636,
        -0.14500005213204886,
        -0.00010773877982201869
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009307836061389763
    },
    {
      "completed_steps": 5460,
      "tcp_position": [
        0.4058700141853981,
        0.1047463956305278,
        0.2857695452020921
      ],
      "shoe_position": [
        0.31999997730495294,
        -0.1450000521329555,
        -0.00010773877981741772
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009501209915439785
    },
    {
      "completed_steps": 5470,
      "tcp_position": [
        0.40602851805019746,
        0.10457211207051223,
        0.28603322658859043
      ],
      "shoe_position": [
        0.31999997730497626,
        -0.14500005213306633,
        -0.00010773877982241498
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009677141196456426
    },
    {
      "completed_steps": 5480,
      "tcp_position": [
        0.40619471154135234,
        0.10441359139441153,
        0.28624092917669786
      ],
      "shoe_position": [
        0.31999997730515667,
        -0.14500005213393002,
        -0.00010773877981808615
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0098388737702008
    },
    {
      "completed_steps": 5490,
      "tcp_position": [
        0.4063746290162111,
        0.10427225015589436,
        0.28639993946895026
      ],
      "shoe_position": [
        0.3199999773051787,
        -0.14500005213403558,
        -0.00010773877982286576
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009992359165636825
    },
    {
      "completed_steps": 5500,
      "tcp_position": [
        0.40657303398279465,
        0.10414614157805242,
        0.2865195580186174
      ],
      "shoe_position": [
        0.31999997730535074,
        -0.14500005213485842,
        -0.00010773877981876221
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01014395891564758
    },
    {
      "completed_steps": 5510,
      "tcp_position": [
        0.40679205947827934,
        0.10403416204409867,
        0.2866091733157654
      ],
      "shoe_position": [
        0.3199999773053718,
        -0.14500005213495898,
        -0.00010773877982331674
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010299888701940204
    },
    {
      "completed_steps": 5520,
      "tcp_position": [
        0.4070320068247084,
        0.10393603429599049,
        0.2866782095643945
      ],
      "shoe_position": [
        0.31999997730558455,
        -0.14500005213597836,
        -0.0001077387798172973
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010466134384190202
    },
    {
      "completed_steps": 5530,
      "tcp_position": [
        0.40729205523037193,
        0.10385164580105746,
        0.2867356671164891
      ],
      "shoe_position": [
        0.3199999773056046,
        -0.14500005213607425,
        -0.00010773877982250238
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010647932022874226
    },
    {
      "completed_steps": 5540,
      "tcp_position": [
        0.40757081528673955,
        0.10378139106890011,
        0.2867898343579116
      ],
      "shoe_position": [
        0.3199999773058074,
        -0.14500005213704614,
        -0.00010773877981731045
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010849793229816088
    },
    {
      "completed_steps": 5550,
      "tcp_position": [
        0.4078686022186199,
        0.10372569544292405,
        0.2868488041690066
      ],
      "shoe_position": [
        0.3199999773058265,
        -0.14500005213713757,
        -0.00010773877982258889
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011077085625456583
    },
    {
      "completed_steps": 5560,
      "tcp_position": [
        0.4082505570497983,
        0.1037124491640653,
        0.28695293623835827
      ],
      "shoe_position": [
        0.3199999773060198,
        -0.1450000521380634,
        -0.000107738779817858
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011410402830856599
    },
    {
      "completed_steps": 5570,
      "tcp_position": [
        0.40879221258819143,
        0.10377400270481013,
        0.28715215394743754
      ],
      "shoe_position": [
        0.3199999773060381,
        -0.1450000521381505,
        -0.00010773877982296987
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01194568561028255
    },
    {
      "completed_steps": 5580,
      "tcp_position": [
        0.4095163931066844,
        0.10392064317651388,
        0.28746895526865945
      ],
      "shoe_position": [
        0.3199999773062225,
        -0.14500005213903247,
        -0.00010773877981851066
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012716857846328648
    },
    {
      "completed_steps": 5590,
      "tcp_position": [
        0.41040633628834694,
        0.10414916861492704,
        0.2879043933051083
      ],
      "shoe_position": [
        0.31999997730623986,
        -0.1450000521391155,
        -0.00010773877982339679
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013710830341853919
    },
    {
      "completed_steps": 5600,
      "tcp_position": [
        0.41132845633664544,
        0.1044269060615089,
        0.2883876083074817
      ],
      "shoe_position": [
        0.31999997730641555,
        -0.1450000521399558,
        -0.00010773877981914828
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014774416853752366
    },
    {
      "completed_steps": 5610,
      "tcp_position": [
        0.41207997893240544,
        0.10467207530445377,
        0.28881136056673445
      ],
      "shoe_position": [
        0.31999997730648083,
        -0.14500005214026845,
        -0.00010773877982108845
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01566506475233499
    },
    {
      "completed_steps": 5620,
      "tcp_position": [
        0.4125924645697425,
        0.10484728894383001,
        0.2891377239238548
      ],
      "shoe_position": [
        0.31999997730664825,
        -0.1450000521410699,
        -0.00010773877981776081
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01629614594171838
    },
    {
      "completed_steps": 5630,
      "tcp_position": [
        0.4128773591957351,
        0.10494902523098061,
        0.2893664989760064
      ],
      "shoe_position": [
        0.3199999773067105,
        -0.145000052141368,
        -0.00010773877982045122
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0166748473354449
    },
    {
      "completed_steps": 5640,
      "tcp_position": [
        0.4129784919601671,
        0.10498907396741884,
        0.2895122437277731
      ],
      "shoe_position": [
        0.31999997730687,
        -0.145000052142132,
        -0.00010773877981781325
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.016846806621703025
    },
    {
      "completed_steps": 5650,
      "tcp_position": [
        0.412946774416579,
        0.1049838675490846,
        0.2895926108181906
      ],
      "shoe_position": [
        0.3199999773069293,
        -0.145000052142416,
        -0.00010773877982067726
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01686641888042241
    },
    {
      "completed_steps": 5660,
      "tcp_position": [
        0.4128289064051068,
        0.10494927044388185,
        0.28962265009003907
      ],
      "shoe_position": [
        0.3199999773070813,
        -0.14500005214314385,
        -0.00010773877981833682
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01678307219292701
    },
    {
      "completed_steps": 5670,
      "tcp_position": [
        0.41266977422485634,
        0.1049005400443982,
        0.28960642263562264
      ],
      "shoe_position": [
        0.3199999773071378,
        -0.1450000521434144,
        -0.00010773877982114908
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.016637963441773346
    },
    {
      "completed_steps": 5680,
      "tcp_position": [
        0.41250086718414036,
        0.10484941133140616,
        0.28954445584291155
      ],
      "shoe_position": [
        0.3199999773072827,
        -0.14500005214410777,
        -0.00010773877981897242
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.016458587665834974
    },
    {
      "completed_steps": 5690,
      "tcp_position": [
        0.4123346116467739,
        0.10480069886876607,
        0.2894425871763805
      ],
      "shoe_position": [
        0.31999997730733665,
        -0.14500005214436548,
        -0.00010773877982166734
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.016258899307420714
    },
    {
      "completed_steps": 5700,
      "tcp_position": [
        0.41217538122566577,
        0.10475583485723379,
        0.2893101739022056
      ],
      "shoe_position": [
        0.3199999773074747,
        -0.14500005214502612,
        -0.00010773877981960143
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.016047965954253625
    },
    {
      "completed_steps": 5710,
      "tcp_position": [
        0.4120249560082153,
        0.10471489325282193,
        0.28916295457775965
      ],
      "shoe_position": [
        0.31999997730757457,
        -0.1450000521455045,
        -0.00010773877981947591
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015836335497175627
    },
    {
      "completed_steps": 5720,
      "tcp_position": [
        0.41188740977593863,
        0.10467895445160863,
        0.28901788769007003
      ],
      "shoe_position": [
        0.31999997730770613,
        -0.1450000521461346,
        -0.00010773877981830008
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015637308730469736
    },
    {
      "completed_steps": 5730,
      "tcp_position": [
        0.41176631260898966,
        0.10464929674406044,
        0.2888830057468471
      ],
      "shoe_position": [
        0.31999997730780133,
        -0.14500005214659067,
        -0.00010773877981898368
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015458650126234107
    },
    {
      "completed_steps": 5740,
      "tcp_position": [
        0.4116609581717294,
        0.10462557774492202,
        0.2887599537389185
      ],
      "shoe_position": [
        0.3199999773079267,
        -0.14500005214719136,
        -0.00010773877981835888
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015300676601547105
    },
    {
      "completed_steps": 5750,
      "tcp_position": [
        0.4115623677378714,
        0.10460403988610481,
        0.2886435558768018
      ],
      "shoe_position": [
        0.3199999773080173,
        -0.14500005214762587,
        -0.00010773877981929854
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015152444989968039
    },
    {
      "completed_steps": 5760,
      "tcp_position": [
        0.41146640101546966,
        0.104582816014256,
        0.28853106332757217
      ],
      "shoe_position": [
        0.31999997730813684,
        -0.1450000521481981,
        -0.00010773877981886347
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015008650717740438
    },
    {
      "completed_steps": 5770,
      "tcp_position": [
        0.41137229080302684,
        0.10456153347297807,
        0.28842179467537155
      ],
      "shoe_position": [
        0.3199999773082232,
        -0.14500005214861206,
        -0.00010773877981984881
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014868194620996316
    },
    {
      "completed_steps": 5780,
      "tcp_position": [
        0.4112799125059473,
        0.10454007746903216,
        0.2883155700050739
      ],
      "shoe_position": [
        0.3199999773083371,
        -0.14500005214915718,
        -0.00010773877981948682
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014730832769260663
    },
    {
      "completed_steps": 5790,
      "tcp_position": [
        0.4111892354812309,
        0.10451842814915249,
        0.28821230556584254
      ],
      "shoe_position": [
        0.3199999773084195,
        -0.14500005214955156,
        -0.00010773877982043688
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014596477188015504
    },
    {
      "completed_steps": 5800,
      "tcp_position": [
        0.41110023490623965,
        0.104496603517377,
        0.2881119189449305
      ],
      "shoe_position": [
        0.3199999773085281,
        -0.14500005215007086,
        -0.00010773877982009567
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014465057453577897
    },
    {
      "completed_steps": 5810,
      "tcp_position": [
        0.4110128864418234,
        0.10447462793650955,
        0.2880143260318507
      ],
      "shoe_position": [
        0.319999977308655,
        -0.14500005215067854,
        -0.0001077387798183548
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014336505316690234
    },
    {
      "completed_steps": 5820,
      "tcp_position": [
        0.4109271660634714,
        0.1044525251158037,
        0.28791944355807075
      ],
      "shoe_position": [
        0.31999997730875845,
        -0.14500005215117387,
        -0.00010773877981887362
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014210753827823889
    },
    {
      "completed_steps": 5830,
      "tcp_position": [
        0.41084304986957126,
        0.10443031750867067,
        0.2878271902321417
      ],
      "shoe_position": [
        0.3199999773088794,
        -0.1450000521517532,
        -0.00010773877981797513
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014087737598059416
    },
    {
      "completed_steps": 5840,
      "tcp_position": [
        0.4107605139572176,
        0.1044080265870034,
        0.28773748708096236
      ],
      "shoe_position": [
        0.31999997730897795,
        -0.14500005215222544,
        -0.00010773877981893292
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013967392932944274
    },
    {
      "completed_steps": 5850,
      "tcp_position": [
        0.41067953438741717,
        0.10438567301848044,
        0.28765025751175655
      ],
      "shoe_position": [
        0.31999997730909324,
        -0.14500005215277742,
        -0.00010773877981836948
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013849657849681328
    },
    {
      "completed_steps": 5860,
      "tcp_position": [
        0.4106000871958838,
        0.1043632767235792,
        0.28756542728568757
      ],
      "shoe_position": [
        0.31999997730918717,
        -0.1450000521532272,
        -0.0001077387798194389
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013734472044526977
    },
    {
      "completed_steps": 5870,
      "tcp_position": [
        0.4105221484197854,
        0.10434085688114456,
        0.2874829244643059
      ],
      "shoe_position": [
        0.31999997730929697,
        -0.14500005215375306,
        -0.0001077387798189721
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013621776843315241
    },
    {
      "completed_steps": 5880,
      "tcp_position": [
        0.41044569412786236,
        0.10431843192029865,
        0.28740267934795094
      ],
      "shoe_position": [
        0.3199999773093866,
        -0.14500005215418163,
        -0.00010773877982002366
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013511515147891109
    },
    {
      "completed_steps": 5890,
      "tcp_position": [
        0.41037070044958274,
        0.10429601951243926,
        0.28732462441223694
      ],
      "shoe_position": [
        0.3199999773094913,
        -0.14500005215468253,
        -0.00010773877981959409
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013403631382822002
    },
    {
      "completed_steps": 5900,
      "tcp_position": [
        0.4102971436021452,
        0.10427363656695658,
        0.28724869424466976
      ],
      "shoe_position": [
        0.31999997730957674,
        -0.1450000521550908,
        -0.0001077387798206026
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013298071443722049
    },
    {
      "completed_steps": 5910,
      "tcp_position": [
        0.41022499991511663,
        0.10425129923101964,
        0.2871748254821396
      ],
      "shoe_position": [
        0.3199999773097247,
        -0.14500005215579914,
        -0.00010773877981761431
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013194782647507373
    },
    {
      "completed_steps": 5920,
      "tcp_position": [
        0.41015424585509214,
        0.10422902302358461,
        0.28710295675827924
      ],
      "shoe_position": [
        0.31999997730980595,
        -0.1450000521561885,
        -0.00010773877981945386
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013093713733301503
    },
    {
      "completed_steps": 5930,
      "tcp_position": [
        0.4100848580406995,
        0.1042068223642817,
        0.28703302861472857
      ],
      "shoe_position": [
        0.3199999773099469,
        -0.14500005215686385,
        -0.00010773877981733038
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012994814642820882
    },
    {
      "completed_steps": 5940,
      "tcp_position": [
        0.4100168132611587,
        0.10418471121423355,
        0.28696498347544613
      ],
      "shoe_position": [
        0.31999997731002444,
        -0.145000052157235,
        -0.00010773877981952225
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01289803669822246
    },
    {
      "completed_steps": 5950,
      "tcp_position": [
        0.4099500884996,
        0.10416270277795033,
        0.2868987655774547
      ],
      "shoe_position": [
        0.3199999773101588,
        -0.14500005215787834,
        -0.00010773877981777991
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012803332459172529
    },
    {
      "completed_steps": 5960,
      "tcp_position": [
        0.40988466094255405,
        0.10414080947559569,
        0.2868343209083153
      ],
      "shoe_position": [
        0.31999997731023266,
        -0.14500005215823195,
        -0.00010773877982000839
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012710655661305246
    },
    {
      "completed_steps": 5970,
      "tcp_position": [
        0.4098205079803452,
        0.10411904265043295,
        0.2867715971639467
      ],
      "shoe_position": [
        0.3199999773103606,
        -0.1450000521588448,
        -0.00010773877981841446
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012619961073588114
    },
    {
      "completed_steps": 5980,
      "tcp_position": [
        0.40975760725506566,
        0.10409741408550245,
        0.2867105436706784
      ],
      "shoe_position": [
        0.31999997731043106,
        -0.14500005215918169,
        -0.00010773877982056736
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012531204965535628
    },
    {
      "completed_steps": 5990,
      "tcp_position": [
        0.4096959366523128,
        0.10407593384443362,
        0.28665111136939525
      ],
      "shoe_position": [
        0.31999997731055313,
        -0.14500005215976552,
        -0.00010773877981907119
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01244434436673785
    },
    {
      "completed_steps": 6000,
      "tcp_position": [
        0.40963547427419505,
        0.10405461118495311,
        0.28659325275333153
      ],
      "shoe_position": [
        0.31999997731062024,
        -0.1450000521600865,
        -0.00010773877982112946
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012359337288832867
    },
    {
      "completed_steps": 6010,
      "tcp_position": [
        0.4095761985039602,
        0.10403345601180261,
        0.28653692178477275
      ],
      "shoe_position": [
        0.3199999773107844,
        -0.14500005216087294,
        -0.0001077387798171928
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012276143189399189
    },
    {
      "completed_steps": 6020,
      "tcp_position": [
        0.4095180879923219,
        0.10401247632990722,
        0.2864820738992587
      ],
      "shoe_position": [
        0.31999997731084834,
        -0.14500005216117903,
        -0.00010773877982004514
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012194722110942047
    },
    {
      "completed_steps": 6030,
      "tcp_position": [
        0.409461121643629,
        0.10399168007051111,
        0.2864286659301458
      ],
      "shoe_position": [
        0.3199999773110049,
        -0.1450000521619288,
        -0.00010773877981699204
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012115035211763851
    },
    {
      "completed_steps": 6040,
      "tcp_position": [
        0.4094052786480319,
        0.10397107470981015,
        0.28637665606512436
      ],
      "shoe_position": [
        0.31999997731106583,
        -0.14500005216222062,
        -0.0001077387798201259
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012037044627769094
    },
    {
      "completed_steps": 6050,
      "tcp_position": [
        0.40935053845922126,
        0.10395066654679294,
        0.28632600381848594
      ],
      "shoe_position": [
        0.31999997731121504,
        -0.14500005216293493,
        -0.00010773877981747466
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011960713187465982
    },
    {
      "completed_steps": 6060,
      "tcp_position": [
        0.4092968808292835,
        0.10393046240534802,
        0.28627666995125467
      ],
      "shoe_position": [
        0.3199999773112732,
        -0.1450000521632129,
        -0.00010773877982058594
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011886004944923074
    },
    {
      "completed_steps": 6070,
      "tcp_position": [
        0.4092442857999974,
        0.10391046770651467,
        0.2862286164751241
      ],
      "shoe_position": [
        0.31999997731141533,
        -0.1450000521638934,
        -0.0001077387798181333
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011812884526224492
    },
    {
      "completed_steps": 6080,
      "tcp_position": [
        0.40919273367397085,
        0.10389068731651985,
        0.28618180659802395
      ],
      "shoe_position": [
        0.3199999773114707,
        -0.1450000521641582,
        -0.00010773877982112653
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011741317345632803
    },
    {
      "completed_steps": 6090,
      "tcp_position": [
        0.40914220506433274,
        0.1038711265254386,
        0.28613620465803835
      ],
      "shoe_position": [
        0.3199999773116062,
        -0.14500005216480646,
        -0.00010773877981880109
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011671269923174443
    },
    {
      "completed_steps": 6100,
      "tcp_position": [
        0.4090926808773011,
        0.103851789362801,
        0.2860917761241928
      ],
      "shoe_position": [
        0.31999997731165897,
        -0.1450000521650588,
        -0.00010773877982165453
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011602709303395853
    },
    {
      "completed_steps": 6110,
      "tcp_position": [
        0.4090441422857138,
        0.10383267935287188,
        0.28604848754989554
      ],
      "shoe_position": [
        0.3199999773118357,
        -0.14500005216590575,
        -0.00010773877981700824
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011535603250259917
    },
    {
      "completed_steps": 6120,
      "tcp_position": [
        0.40899657077394047,
        0.10381380043198427,
        0.2860063065102979
      ],
      "shoe_position": [
        0.319999977311886,
        -0.14500005216614636,
        -0.00010773877982062687
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011469920545547359
    },
    {
      "completed_steps": 6130,
      "tcp_position": [
        0.4089499481186274,
        0.10379515539312575,
        0.28596520160582617
      ],
      "shoe_position": [
        0.3199999773120546,
        -0.14500005216695377,
        -0.00010773877981688606
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011405630450888889
    },
    {
      "completed_steps": 6140,
      "tcp_position": [
        0.4089042563635608,
        0.10377674658775962,
        0.28592514241857936
      ],
      "shoe_position": [
        0.3199999773121025,
        -0.14500005216718315,
        -0.00010773877982072692
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011342702890255695
    },
    {
      "completed_steps": 6150,
      "tcp_position": [
        0.4088594778614491,
        0.10375857676553407,
        0.2858860994544851
      ],
      "shoe_position": [
        0.31999997731226304,
        -0.14500005216795236,
        -0.00010773877981739263
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011281108725121333
    },
    {
      "completed_steps": 6160,
      "tcp_position": [
        0.40881559525339056,
        0.10374064765121603,
        0.28584804414809506
      ],
      "shoe_position": [
        0.3199999773123087,
        -0.14500005216817088,
        -0.00010773877982116316
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011220819260651976
    },
    {
      "completed_steps": 6170,
      "tcp_position": [
        0.4087725914516608,
        0.10372296071244554,
        0.28581094881744656
      ],
      "shoe_position": [
        0.31999997731246177,
        -0.14500005216890363,
        -0.00010773877981805737
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011161806457878926
    },
    {
      "completed_steps": 6180,
      "tcp_position": [
        0.40873044966037064,
        0.10370551741034406,
        0.2857747866301191
      ],
      "shoe_position": [
        0.3199999773125054,
        -0.14500005216911183,
        -0.00010773877982167524
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011104043010274713
    },
    {
      "completed_steps": 6190,
      "tcp_position": [
        0.40868915336652223,
        0.10368831866935051,
        0.2857395315825748
      ],
      "shoe_position": [
        0.3199999773126513,
        -0.14500005216980993,
        -0.00010773877981872883
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011047502143968883
    },
    {
      "completed_steps": 6200,
      "tcp_position": [
        0.4086486863216599,
        0.10367136494707836,
        0.28570515847901756
      ],
      "shoe_position": [
        0.3199999773126927,
        -0.14500005217000825,
        -0.00010773877982217808
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01099215761057892
    },
    {
      "completed_steps": 6210,
      "tcp_position": [
        0.40860903257592734,
        0.10365465715408485,
        0.28567164287260893
      ],
      "shoe_position": [
        0.31999997731287916,
        -0.1450000521709017,
        -0.0001077387798170519
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010937983986169334
    },
    {
      "completed_steps": 6220,
      "tcp_position": [
        0.40857017645355176,
        0.10363819528272847,
        0.2856389610843126
      ],
      "shoe_position": [
        0.3199999773129187,
        -0.14500005217109085,
        -0.00010773877982122939
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010884956199758992
    },
    {
      "completed_steps": 6230,
      "tcp_position": [
        0.4085321025392515,
        0.10362197924732794,
        0.28560709015678143
      ],
      "shoe_position": [
        0.31999997731309643,
        -0.14500005217194262,
        -0.00010773877981697098
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010833049775324139
    },
    {
      "completed_steps": 6240,
      "tcp_position": [
        0.4084947956872593,
        0.10360600878674243,
        0.28557600783028847
      ],
      "shoe_position": [
        0.31999997731313407,
        -0.14500005217212297,
        -0.00010773877982131807
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010782240790382161
    },
    {
      "completed_steps": 6250,
      "tcp_position": [
        0.4084582410142859,
        0.10359028333851746,
        0.28554569252327916
      ],
      "shoe_position": [
        0.3199999773133035,
        -0.1450000521729344,
        -0.00010773877981748163
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010732505815015335
    },
    {
      "completed_steps": 6260,
      "tcp_position": [
        0.4084224239102618,
        0.1035748024113263,
        0.2855161233029313
      ],
      "shoe_position": [
        0.3199999773133394,
        -0.1450000521731062,
        -0.00010773877982172933
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01068382202665857
    },
    {
      "completed_steps": 6270,
      "tcp_position": [
        0.4083873300224654,
        0.10355956506399258,
        0.28548727987494216
      ],
      "shoe_position": [
        0.3199999773135009,
        -0.1450000521738792,
        -0.00010773877981814467
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010636167015259334
    },
    {
      "completed_steps": 6280,
      "tcp_position": [
        0.40835294524630217,
        0.10354457015840336,
        0.28545914255919885
      ],
      "shoe_position": [
        0.3199999773135351,
        -0.14500005217404285,
        -0.00010773877982221489
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01058951884540658
    },
    {
      "completed_steps": 6290,
      "tcp_position": [
        0.4083192557406306,
        0.10352981668234638,
        0.28543169226087867
      ],
      "shoe_position": [
        0.319999977313689,
        -0.14500005217477932,
        -0.00010773877981882216
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010543856159198808
    },
    {
      "completed_steps": 6300,
      "tcp_position": [
        0.40828624791185214,
        0.10351530320831734,
        0.28540491046418726
      ],
      "shoe_position": [
        0.3199999773137216,
        -0.1450000521749352,
        -0.00010773877982270107
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01049915797714085
    },
    {
      "completed_steps": 6310,
      "tcp_position": [
        0.4082539084096044,
        0.10350102823414137,
        0.2853787792071623
      ],
      "shoe_position": [
        0.31999997731391555,
        -0.1450000521758643,
        -0.00010773877981723453
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010455403793722855
    },
    {
      "completed_steps": 6320,
      "tcp_position": [
        0.40822222412178694,
        0.10348699005049995,
        0.2853532810664424
      ],
      "shoe_position": [
        0.31999997731394675,
        -0.14500005217601303,
        -0.00010773877982180566
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010412573519428847
    },
    {
      "completed_steps": 6330,
      "tcp_position": [
        0.4081911821868597,
        0.10347318709886005,
        0.2853283991296679
      ],
      "shoe_position": [
        0.31999997731413166,
        -0.14500005217689874,
        -0.00010773877981719184
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010370647594391595
    },
    {
      "completed_steps": 6340,
      "tcp_position": [
        0.40816076997663886,
        0.10345961744097805,
        0.2853041169936715
      ],
      "shoe_position": [
        0.3199999773141613,
        -0.14500005217704048,
        -0.0001077387798218932
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010329606794650198
    },
    {
      "completed_steps": 6350,
      "tcp_position": [
        0.4081309750921454,
        0.10344627910216457,
        0.28528041874036786
      ],
      "shoe_position": [
        0.3199999773143375,
        -0.14500005217788428,
        -0.00010773877981771683
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010289432329955462
    },
    {
      "completed_steps": 6360,
      "tcp_position": [
        0.40810178536391095,
        0.10343317002723772,
        0.28525728892126234
      ],
      "shoe_position": [
        0.31999997731436575,
        -0.14500005217801937,
        -0.00010773877982229249
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01025010581996265
    },
    {
      "completed_steps": 6370,
      "tcp_position": [
        0.40807318884871896,
        0.10342028807299197,
        0.28523471254276783
      ],
      "shoe_position": [
        0.3199999773145338,
        -0.14500005217882317,
        -0.00010773877981836806
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010211609280360343
    },
    {
      "completed_steps": 6380,
      "tcp_position": [
        0.4080451738255476,
        0.10340763101032273,
        0.2852126750515173
      ],
      "shoe_position": [
        0.3199999773145607,
        -0.14500005217895176,
        -0.00010773877982274795
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010173925111700986
    },
    {
      "completed_steps": 6390,
      "tcp_position": [
        0.4080177287869232,
        0.10339519644826782,
        0.28519116232406555
      ],
      "shoe_position": [
        0.3199999773147208,
        -0.1450000521797176,
        -0.00010773877981903348
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01013703606079137
    },
    {
      "completed_steps": 6400,
      "tcp_position": [
        0.4079908424518432,
        0.10338298220216408,
        0.28517016063894884
      ],
      "shoe_position": [
        0.3199999773147465,
        -0.14500005217984016,
        -0.00010773877982320703
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010100925338941651
    },
    {
      "completed_steps": 6410,
      "tcp_position": [
        0.407964503747715,
        0.103370985758438,
        0.28514965668303466
      ],
      "shoe_position": [
        0.3199999773149461,
        -0.14500005218079628,
        -0.00010773877981752397
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010065576430790273
    },
    {
      "completed_steps": 6420,
      "tcp_position": [
        0.40793870180665875,
        0.10335920461886978,
        0.28512963752842135
      ],
      "shoe_position": [
        0.31999997731497054,
        -0.1450000521809132,
        -0.00010773877982235922
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010030973194036117
    },
    {
      "completed_steps": 6430,
      "tcp_position": [
        0.40791342596616104,
        0.1033476362524345,
        0.28511009062055476
      ],
      "shoe_position": [
        0.3199999773151608,
        -0.1450000521818247,
        -0.00010773877981751799
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00999709983699305
    },
    {
      "completed_steps": 6440,
      "tcp_position": [
        0.4078886657658461,
        0.10333627808425878,
        0.2850910037668677
      ],
      "shoe_position": [
        0.31999997731518415,
        -0.14500005218193612,
        -0.00010773877982245053
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009963940905836301
    },
    {
      "completed_steps": 6450,
      "tcp_position": [
        0.4078644109438329,
        0.1033251274995917,
        0.28507236512542933
      ],
      "shoe_position": [
        0.31999997731536545,
        -0.14500005218280443,
        -0.00010773877981805559
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009931481276611805
    },
    {
      "completed_steps": 6460,
      "tcp_position": [
        0.40784065143323545,
        0.10331418184960889,
        0.2850541631938373
      ],
      "shoe_position": [
        0.3199999773153877,
        -0.14500005218291057,
        -0.00010773877982283917
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009899706148149709
    },
    {
      "completed_steps": 6470,
      "tcp_position": [
        0.40781737735879897,
        0.10330343845661709,
        0.2850363867984567
      ],
      "shoe_position": [
        0.31999997731556057,
        -0.14500005218373768,
        -0.0001077387798186997
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009868601035110698
    },
    {
      "completed_steps": 6480,
      "tcp_position": [
        0.4077945790336186,
        0.1032928946186289,
        0.28501902508402005
      ],
      "shoe_position": [
        0.31999997731558166,
        -0.14500005218383885,
        -0.00010773877982327276
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009838151761115682
    },
    {
      "completed_steps": 6490,
      "tcp_position": [
        0.40777224695590586,
        0.10328254761353652,
        0.2850020675035802
      ],
      "shoe_position": [
        0.3199999773157956,
        -0.14500005218486356,
        -0.00010773877981721
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009808344452000786
    },
    {
      "completed_steps": 6500,
      "tcp_position": [
        0.4077503718057983,
        0.1032723947030128,
        0.2849855038088104
      ],
      "shoe_position": [
        0.3199999773158158,
        -0.14500005218495993,
        -0.00010773877982244465
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009779165529230084
    },
    {
      "completed_steps": 6510,
      "tcp_position": [
        0.40772894444225816,
        0.10326243313687175,
        0.28496932404065545
      ],
      "shoe_position": [
        0.3199999773160197,
        -0.14500005218593673,
        -0.00010773877981723165
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009750601703746678
    },
    {
      "completed_steps": 6520,
      "tcp_position": [
        0.40770795589968245,
        0.10325266015321222,
        0.28495351852014056
      ],
      "shoe_position": [
        0.31999997731603885,
        -0.14500005218602868,
        -0.00010773877982253865
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00972263996829662
    },
    {
      "completed_steps": 6530,
      "tcp_position": [
        0.40768739738528825,
        0.10324307298793878,
        0.284938077839865
      ],
      "shoe_position": [
        0.3199999773162332,
        -0.1450000521869592,
        -0.00010773877981777802
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00969526759388312
    },
    {
      "completed_steps": 6540,
      "tcp_position": [
        0.40766726027570543,
        0.10323366887242558,
        0.284922992855332
      ],
      "shoe_position": [
        0.3199999773162516,
        -0.14500005218704673,
        -0.0001077387798229181
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009668472121568853
    },
    {
      "completed_steps": 6550,
      "tcp_position": [
        0.4076475361140686,
        0.1032244450382297,
        0.2849082546768515
      ],
      "shoe_position": [
        0.31999997731643676,
        -0.14500005218793308,
        -0.00010773877981844291
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009642241357349535
    },
    {
      "completed_steps": 6560,
      "tcp_position": [
        0.4076282166070617,
        0.10321539871988561,
        0.2848938546616405
      ],
      "shoe_position": [
        0.31999997731645424,
        -0.14500005218801643,
        -0.00010773877982335292
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009616563366471115
    },
    {
      "completed_steps": 6570,
      "tcp_position": [
        0.4076092936219922,
        0.10320652715737963,
        0.28487978440618833
      ],
      "shoe_position": [
        0.3199999773166307,
        -0.14500005218886086,
        -0.00010773877981909416
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0095914264678192
    },
    {
      "completed_steps": 6580,
      "tcp_position": [
        0.40759075918390325,
        0.10319782759849339,
        0.2848660357388781
      ],
      "shoe_position": [
        0.3199999773166963,
        -0.14500005218917503,
        -0.00010773877982104333
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009566819228444514
    },
    {
      "completed_steps": 6590,
      "tcp_position": [
        0.40757260547273144,
        0.10318929730101326,
        0.28485260071285706
      ],
      "shoe_position": [
        0.3199999773168646,
        -0.14500005218998044,
        -0.00010773877981770461
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009542730458223833
    },
    {
      "completed_steps": 6600,
      "tcp_position": [
        0.4075548248205013,
        0.10318093353479478,
        0.28483947159914513
      ],
      "shoe_position": [
        0.3199999773169271,
        -0.14500005219027995,
        -0.00010773877982040098
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00951914920463885
    },
    {
      "completed_steps": 6610,
      "tcp_position": [
        0.4075374097085644,
        0.10317273358368714,
        0.28482664087997345
      ],
      "shoe_position": [
        0.3199999773170874,
        -0.14500005219104778,
        -0.00010773877981774063
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009496064747675597
    },
    {
      "completed_steps": 6620,
      "tcp_position": [
        0.4075203527648778,
        0.10316469474732126,
        0.2848141012423441
      ],
      "shoe_position": [
        0.31999997731714697,
        -0.14500005219133322,
        -0.00010773877982061785
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009473466594835606
    },
    {
      "completed_steps": 6630,
      "tcp_position": [
        0.4075036467613233,
        0.1031568143427669,
        0.2848018455718068
      ],
      "shoe_position": [
        0.31999997731729973,
        -0.1450000521920647,
        -0.00010773877981826825
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009451344476258195
    },
    {
      "completed_steps": 6640,
      "tcp_position": [
        0.40748728461106987,
        0.10314908970606836,
        0.2847898669464402
      ],
      "shoe_position": [
        0.3199999773173566,
        -0.14500005219233658,
        -0.00010773877982109122
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009429688339952128
    },
    {
      "completed_steps": 6650,
      "tcp_position": [
        0.40747125936597395,
        0.10314151819366257,
        0.2847781586310331
      ],
      "shoe_position": [
        0.31999997731750224,
        -0.1450000521930334,
        -0.0001077387798188975
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009408488347130057
    },
    {
      "completed_steps": 6660,
      "tcp_position": [
        0.4074555642140236,
        0.10313409718368614,
        0.284766714071459
      ],
      "shoe_position": [
        0.31999997731755636,
        -0.14500005219329246,
        -0.00010773877982160794
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009387734867648509
    },
    {
      "completed_steps": 6670,
      "tcp_position": [
        0.4074401924768191,
        0.10312682407717556,
        0.28475552688923633
      ],
      "shoe_position": [
        0.31999997731769514,
        -0.14500005219395629,
        -0.00010773877981953545
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009367418475544358
    },
    {
      "completed_steps": 6680,
      "tcp_position": [
        0.4074251376070984,
        0.10311969629916934,
        0.28474459087626686
      ],
      "shoe_position": [
        0.3199999773177955,
        -0.14500005219443704,
        -0.00010773877981941169
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009347529944672667
    },
    {
      "completed_steps": 6690,
      "tcp_position": [
        0.40741039318629757,
        0.10311271129971401,
        0.2847338999897508
      ],
      "shoe_position": [
        0.31999997731792773,
        -0.14500005219507026,
        -0.00010773877981823363
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009328060244437464
    },
    {
      "completed_steps": 6700,
      "tcp_position": [
        0.407395952922156,
        0.10310586655477917,
        0.28472344834726515
      ],
      "shoe_position": [
        0.3199999773180235,
        -0.14500005219552864,
        -0.0001077387798189247
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009309000535617416
    },
    {
      "completed_steps": 6710,
      "tcp_position": [
        0.4073818106463565,
        0.10309915956708915,
        0.2847132302220051
      ],
      "shoe_position": [
        0.31999997731814955,
        -0.14500005219613224,
        -0.00010773877981830267
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0092903421662802
    },
    {
      "completed_steps": 6720,
      "tcp_position": [
        0.40736796031220635,
        0.10309258786687256,
        0.28470324003818115
      ],
      "shoe_position": [
        0.3199999773182407,
        -0.14500005219656892,
        -0.00010773877981924355
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009272076667787255
    },
    {
      "completed_steps": 6730,
      "tcp_position": [
        0.40735439599235723,
        0.10308614901253527,
        0.28469347236656567
      ],
      "shoe_position": [
        0.3199999773183608,
        -0.14500005219714399,
        -0.0001077387798188046
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00925419575088443
    },
    {
      "completed_steps": 6740,
      "tcp_position": [
        0.40734111187656274,
        0.10307984059126249,
        0.28468392192018616
      ],
      "shoe_position": [
        0.31999997731844765,
        -0.14500005219756,
        -0.00010773877981978128
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009236691301878526
    },
    {
      "completed_steps": 6750,
      "tcp_position": [
        0.40732810226947264,
        0.1030736602195508,
        0.28467458355015723
      ],
      "shoe_position": [
        0.3199999773185621,
        -0.14500005219810777,
        -0.00010773877981940617
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009219555378894316
    },
    {
      "completed_steps": 6760,
      "tcp_position": [
        0.40731536158846793,
        0.10306760554367757,
        0.28466545224164735
      ],
      "shoe_position": [
        0.319999977318645,
        -0.14500005219850406,
        -0.00010773877982036196
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009202780208215617
    },
    {
      "completed_steps": 6770,
      "tcp_position": [
        0.4073028843615275,
        0.10306167424010747,
        0.2846565231099773
      ],
      "shoe_position": [
        0.319999977318754,
        -0.14500005219902593,
        -0.00010773877982001994
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00918635818070103
    },
    {
      "completed_steps": 6780,
      "tcp_position": [
        0.4072906652251367,
        0.10305586401584471,
        0.2846477913968425
      ],
      "shoe_position": [
        0.3199999773188815,
        -0.14500005219963663,
        -0.00010773877981827125
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009170281848281127
    },
    {
      "completed_steps": 6790,
      "tcp_position": [
        0.4072786989222281,
        0.1030501726087272,
        0.2846392524666603
      ],
      "shoe_position": [
        0.31999997731898544,
        -0.1450000522001344,
        -0.00010773877981879475
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009154543920528613
    },
    {
      "completed_steps": 6800,
      "tcp_position": [
        0.4072669803001603,
        0.10304459778767422,
        0.2846309018030311
      ],
      "shoe_position": [
        0.319999977319107,
        -0.1450000522007166,
        -0.00010773877981790664
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009139137261303406
    },
    {
      "completed_steps": 6810,
      "tcp_position": [
        0.4072555043087305,
        0.10303913735288267,
        0.28462273500531476
      ],
      "shoe_position": [
        0.319999977319206,
        -0.14500005220119114,
        -0.00010773877981887713
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009124054885469239
    },
    {
      "completed_steps": 6820,
      "tcp_position": [
        0.40724426599822205,
        0.10303378913598146,
        0.2846147477853151
      ],
      "shoe_position": [
        0.3199999773193217,
        -0.1450000522017458,
        -0.00010773877981830934
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009109289955680699
    },
    {
      "completed_steps": 6830,
      "tcp_position": [
        0.4072332605174868,
        0.1030285510001412,
        0.2846069359640717
      ],
      "shoe_position": [
        0.3199999773194162,
        -0.14500005220219792,
        -0.00010773877981938172
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009094835779240147
    },
    {
      "completed_steps": 6840,
      "tcp_position": [
        0.4072224831120598,
        0.10302342084014549,
        0.28459929546875257
      ],
      "shoe_position": [
        0.3199999773195265,
        -0.1450000522027263,
        -0.00010773877981889845
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009080685805020566
    },
    {
      "completed_steps": 6850,
      "tcp_position": [
        0.40721192912230975,
        0.10301839658242604,
        0.2845918223296452
      ],
      "shoe_position": [
        0.3199999773196165,
        -0.14500005220315693,
        -0.00010773877981994744
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009066833620456936
    },
    {
      "completed_steps": 6860,
      "tcp_position": [
        0.40720159398162004,
        0.10301347618506221,
        0.2845845126772426
      ],
      "shoe_position": [
        0.3199999773197217,
        -0.14500005220366038,
        -0.00010773877981951382
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009053272948599339
    },
    {
      "completed_steps": 6870,
      "tcp_position": [
        0.40719147321460175,
        0.1030086576377469,
        0.28457736273942136
      ],
      "shoe_position": [
        0.3199999773198075,
        -0.14500005220407067,
        -0.00010773877982052793
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009039997645229206
    },
    {
      "completed_steps": 6880,
      "tcp_position": [
        0.40718156243534165,
        0.10300393896172526,
        0.2845703688387096
      ],
      "shoe_position": [
        0.31999997731995616,
        -0.1450000522047825,
        -0.00010773877981752488
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009027001696041084
    },
    {
      "completed_steps": 6890,
      "tcp_position": [
        0.40717185734567896,
        0.10299931820970233,
        0.2845635273896378
      ],
      "shoe_position": [
        0.3199999773200379,
        -0.14500005220517376,
        -0.00010773877981937721
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009014279213880334
    },
    {
      "completed_steps": 6900,
      "tcp_position": [
        0.4071623537335126,
        0.1029947934657267,
        0.2845568348961756
      ],
      "shoe_position": [
        0.31999997732017954,
        -0.1450000522058524,
        -0.00010773877981725982
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009001824436042099
    },
    {
      "completed_steps": 6910,
      "tcp_position": [
        0.40715304747114106,
        0.10299036284504758,
        0.28455028794924647
      ],
      "shoe_position": [
        0.31999997732025737,
        -0.14500005220622544,
        -0.00010773877981946777
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008989631721627733
    },
    {
      "completed_steps": 6920,
      "tcp_position": [
        0.40714393451363123,
        0.10298602449395143,
        0.28454388322431867
      ],
      "shoe_position": [
        0.3199999773203923,
        -0.14500005220687198,
        -0.00010773877981771499
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008977695548957621
    },
    {
      "completed_steps": 6930,
      "tcp_position": [
        0.40713501089721654,
        0.1029817765895754,
        0.28453761747907347
      ],
      "shoe_position": [
        0.31999997732046653,
        -0.1450000522072274,
        -0.00010773877981995221
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008966010513039295
    },
    {
      "completed_steps": 6940,
      "tcp_position": [
        0.4071262727377241,
        0.10297761733970351,
        0.28453148755114427
      ],
      "shoe_position": [
        0.31999997732059515,
        -0.14500005220784332,
        -0.00010773877981834978
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008954571323090115
    },
    {
      "completed_steps": 6950,
      "tcp_position": [
        0.40711771622903126,
        0.10297354498254349,
        0.2845254903559247
      ],
      "shoe_position": [
        0.319999977320666,
        -0.14500005220818188,
        -0.00010773877982051122
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008943372800112473
    },
    {
      "completed_steps": 6960,
      "tcp_position": [
        0.40710933764154955,
        0.10296955778648724,
        0.28451962288444355
      ],
      "shoe_position": [
        0.31999997732078866,
        -0.14500005220876866,
        -0.00010773877981900684
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008932409874520176
    },
    {
      "completed_steps": 6970,
      "tcp_position": [
        0.40710113332073716,
        0.10296565404985747,
        0.2845138822013064
      ],
      "shoe_position": [
        0.31999997732085617,
        -0.1450000522090912,
        -0.00010773877982107523
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008921677583817397
    },
    {
      "completed_steps": 6980,
      "tcp_position": [
        0.4070930996856367,
        0.10296183210063783,
        0.28450826544269914
      ],
      "shoe_position": [
        0.3199999773210212,
        -0.1450000522098816,
        -0.00010773877981711213
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008911171070324173
    },
    {
      "completed_steps": 6990,
      "tcp_position": [
        0.40708523322744344,
        0.10295809029619377,
        0.28450276981445155
      ],
      "shoe_position": [
        0.3199999773210855,
        -0.14500005221018922,
        -0.00010773877981997868
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008900885578954479
    },
    {
      "completed_steps": 7000,
      "tcp_position": [
        0.40707753050809603,
        0.1029544270229785,
        0.28449739259016155
      ],
      "shoe_position": [
        0.3199999773212427,
        -0.1450000522109427,
        -0.00010773877981691551
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00889081645503803
    },
    {
      "completed_steps": 7010,
      "tcp_position": [
        0.40688788389158187,
        0.10272075722417184,
        0.2843982978942825
      ],
      "shoe_position": [
        0.319999977321304,
        -0.1450000522112359,
        -0.00010773877982006616
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.13534433096139967
    },
    {
      "completed_steps": 7020,
      "tcp_position": [
        0.40608303613765284,
        0.10152890712285728,
        0.284165256348047
      ],
      "shoe_position": [
        0.31999997732145385,
        -0.14500005221195375,
        -0.0001077387798174034
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.13406450672405953
    },
    {
      "completed_steps": 7030,
      "tcp_position": [
        0.40418780175136715,
        0.09940834452191635,
        0.28394803453017686
      ],
      "shoe_position": [
        0.3199999773215122,
        -0.14500005221223314,
        -0.00010773877982052984
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.13150984701643464
    },
    {
      "completed_steps": 7040,
      "tcp_position": [
        0.40097029260273925,
        0.09652141525009293,
        0.28387737220867876
      ],
      "shoe_position": [
        0.319999977321655,
        -0.14500005221291698,
        -0.00010773877981805891
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.12764184896133685
    },
    {
      "completed_steps": 7050,
      "tcp_position": [
        0.39652922528862145,
        0.09304229411010867,
        0.2841094736826927
      ],
      "shoe_position": [
        0.31999997732171065,
        -0.1450000522131831,
        -0.00010773877982106528
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.12271597875379846
    },
    {
      "completed_steps": 7060,
      "tcp_position": [
        0.3910877640092425,
        0.08912821266884888,
        0.28475650157176075
      ],
      "shoe_position": [
        0.31999997732184693,
        -0.14500005221383455,
        -0.00010773877981873285
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.11708474066511543
    },
    {
      "completed_steps": 7070,
      "tcp_position": [
        0.3848866170577797,
        0.08491036345579822,
        0.2858486547624228
      ],
      "shoe_position": [
        0.3199999773218999,
        -0.14500005221408813,
        -0.00010773877982160169
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.11109343247923492
    },
    {
      "completed_steps": 7080,
      "tcp_position": [
        0.378242390180963,
        0.08052080879148207,
        0.2872275565363901
      ],
      "shoe_position": [
        0.31999997732207763,
        -0.14500005221493925,
        -0.00010773877981695232
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.1050656975109937
    },
    {
      "completed_steps": 7090,
      "tcp_position": [
        0.37141704543108833,
        0.07607142337400175,
        0.2886493297063504
      ],
      "shoe_position": [
        0.3199999773221281,
        -0.14500005221518103,
        -0.00010773877982058702
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.09920325517510405
    },
    {
      "completed_steps": 7100,
      "tcp_position": [
        0.36454389014102373,
        0.07163671803216444,
        0.28987199340498504
      ],
      "shoe_position": [
        0.3199999773222974,
        -0.14500005221599244,
        -0.00010773877981681292
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.09354919174781678
    },
    {
      "completed_steps": 7110,
      "tcp_position": [
        0.3577008437288511,
        0.067276480958551,
        0.29068338474198463
      ],
      "shoe_position": [
        0.31999997732234553,
        -0.14500005221622297,
        -0.00010773877982066799
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.08806740012199303
    },
    {
      "completed_steps": 7120,
      "tcp_position": [
        0.35094826557511916,
        0.06304533240219087,
        0.290913949965543
      ],
      "shoe_position": [
        0.3199999773225069,
        -0.14500005221699594,
        -0.00010773877981731867
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0826881032013978
    },
    {
      "completed_steps": 7130,
      "tcp_position": [
        0.34434127786063623,
        0.0589953653487565,
        0.2904432578480201
      ],
      "shoe_position": [
        0.3199999773225529,
        -0.14500005221721554,
        -0.00010773877982110728
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.07733278894705099
    },
    {
      "completed_steps": 7140,
      "tcp_position": [
        0.33792989907218496,
        0.055175066502365686,
        0.2891999985061332
      ],
      "shoe_position": [
        0.31999997732270674,
        -0.14500005221795187,
        -0.00010773877981799786
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.07192773950364026
    },
    {
      "completed_steps": 7150,
      "tcp_position": [
        0.33175928427862333,
        0.05162824265969567,
        0.28715998616223204
      ],
      "shoe_position": [
        0.31999997732275043,
        -0.14500005221816106,
        -0.00010773877982163151
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0664163547878814
    },
    {
      "completed_steps": 7160,
      "tcp_position": [
        0.32586865542082966,
        0.04839482639612068,
        0.2843376782881504
      ],
      "shoe_position": [
        0.3199999773228971,
        -0.14500005221886267,
        -0.0001077387798186678
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.06076383566932844
    },
    {
      "completed_steps": 7170,
      "tcp_position": [
        0.32029207693668604,
        0.0455121913698103,
        0.2807746110500274
      ],
      "shoe_position": [
        0.3199999773229388,
        -0.14500005221906198,
        -0.00010773877982213093
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.054956471569628254
    },
    {
      "completed_steps": 7180,
      "tcp_position": [
        0.3150612076228263,
        0.04301220379854808,
        0.2765252242086293
      ],
      "shoe_position": [
        0.31999997732312624,
        -0.1450000522199599,
        -0.00010773877981697951
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.048994998055363705
    },
    {
      "completed_steps": 7190,
      "tcp_position": [
        0.3102085553374378,
        0.04092883444530621,
        0.2716423980868983
      ],
      "shoe_position": [
        0.319999977323166,
        -0.14500005222014992,
        -0.00010773877982117612
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.04288550633876235
    },
    {
      "completed_steps": 7200,
      "tcp_position": [
        0.3057729579452132,
        0.03929183364178085,
        0.26612417630148155
      ],
      "shoe_position": [
        0.3199999773233447,
        -0.14500005222100595,
        -0.00010773877981688696
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.03658940634239143
    },
    {
      "completed_steps": 7210,
      "tcp_position": [
        0.3017324718532844,
        0.038072393948648205,
        0.2597898174471009
      ],
      "shoe_position": [
        0.31999997732338253,
        -0.14500005222118717,
        -0.00010773877982125595
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.029902346853436547
    },
    {
      "completed_steps": 7220,
      "tcp_position": [
        0.2980053016576864,
        0.0371863063391183,
        0.2525096726142248
      ],
      "shoe_position": [
        0.31999997732355284,
        -0.14500005222200268,
        -0.00010773877981740686
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.022772374814535614
    },
    {
      "completed_steps": 7230,
      "tcp_position": [
        0.29465447049232807,
        0.03654490641372041,
        0.24489208317280492
      ],
      "shoe_position": [
        0.3199999773235889,
        -0.14500005222217527,
        -0.00010773877982167645
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.016195261610516848
    },
    {
      "completed_steps": 7240,
      "tcp_position": [
        0.2919206204151761,
        0.03609766688561687,
        0.23788872839364752
      ],
      "shoe_position": [
        0.31999997732375124,
        -0.1450000522229521,
        -0.00010773877981806593
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01194724294052904
    },
    {
      "completed_steps": 7250,
      "tcp_position": [
        0.28993622923229845,
        0.03580854702796184,
        0.23201068598598232
      ],
      "shoe_position": [
        0.3199999773237857,
        -0.14500005222311654,
        -0.00010773877982215802
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01108560409792255
    },
    {
      "completed_steps": 7260,
      "tcp_position": [
        0.28862808830763004,
        0.035650797790771904,
        0.22745829627269315
      ],
      "shoe_position": [
        0.3199999773239405,
        -0.14500005222385662,
        -0.0001077387798187452
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012437692440047735
    },
    {
      "completed_steps": 7270,
      "tcp_position": [
        0.2878717563295886,
        0.03560040132586204,
        0.22425117055336222
      ],
      "shoe_position": [
        0.3199999773239732,
        -0.14500005222401335,
        -0.00010773877982264502
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.014124439919121745
    },
    {
      "completed_steps": 7280,
      "tcp_position": [
        0.2875782449272567,
        0.03564359072617636,
        0.22229880442099992
      ],
      "shoe_position": [
        0.31999997732416813,
        -0.145000052224947,
        -0.0001077387798171382
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01525079388734537
    },
    {
      "completed_steps": 7290,
      "tcp_position": [
        0.28764720623718604,
        0.03576073703907638,
        0.221424808655532
      ],
      "shoe_position": [
        0.3199999773241994,
        -0.14500005222509646,
        -0.0001077387798217379
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01562359660234203
    },
    {
      "completed_steps": 7300,
      "tcp_position": [
        0.28800737631494655,
        0.03593582004101318,
        0.22135246252121904
      ],
      "shoe_position": [
        0.31999997732438523,
        -0.14500005222598655,
        -0.00010773877981710162
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.015333639034399382
    },
    {
      "completed_steps": 7310,
      "tcp_position": [
        0.288599874348981,
        0.0361621819432929,
        0.22165966167087625
      ],
      "shoe_position": [
        0.319999977324415,
        -0.14500005222612902,
        -0.00010773877982183234
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01463738213409964
    },
    {
      "completed_steps": 7320,
      "tcp_position": [
        0.28927670953519985,
        0.03640751439285814,
        0.2221041052505826
      ],
      "shoe_position": [
        0.319999977324592,
        -0.14500005222697698,
        -0.00010773877981765468
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.013792754080453707
    },
    {
      "completed_steps": 7330,
      "tcp_position": [
        0.2899366622730193,
        0.03664555688638258,
        0.2225793778855673
      ],
      "shoe_position": [
        0.3199999773246204,
        -0.14500005222711262,
        -0.00010773877982225133
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01294560494434216
    },
    {
      "completed_steps": 7340,
      "tcp_position": [
        0.2905399206765284,
        0.036865052509108716,
        0.22302974544824944
      ],
      "shoe_position": [
        0.3199999773247891,
        -0.14500005222792037,
        -0.00010773877981829669
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012161638256962747
    },
    {
      "completed_steps": 7350,
      "tcp_position": [
        0.2910772595859312,
        0.037063083380207806,
        0.2234295773568299
      ],
      "shoe_position": [
        0.31999997732481616,
        -0.14500005222804965,
        -0.00010773877982269633
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011463473707317092
    },
    {
      "completed_steps": 7360,
      "tcp_position": [
        0.2915513253333657,
        0.037240224818999634,
        0.2237704599378372
      ],
      "shoe_position": [
        0.319999977324977,
        -0.14500005222881923,
        -0.00010773877981895604
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010853738160577909
    },
    {
      "completed_steps": 7370,
      "tcp_position": [
        0.2919661216503928,
        0.037397821872114635,
        0.2240606650045715
      ],
      "shoe_position": [
        0.31999997732500274,
        -0.1450000522289424,
        -0.00010773877982315247
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010324254575195906
    },
    {
      "completed_steps": 7380,
      "tcp_position": [
        0.2923251323003106,
        0.037537212118551974,
        0.22431457800381727
      ],
      "shoe_position": [
        0.3199999773252034,
        -0.14500005222990323,
        -0.00010773877981745935
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009863718448507206
    },
    {
      "completed_steps": 7390,
      "tcp_position": [
        0.29263416410581766,
        0.037660162697425704,
        0.22453890938057747
      ],
      "shoe_position": [
        0.31999997732522806,
        -0.14500005223002066,
        -0.00010773877982231724
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009463291593102677
    },
    {
      "completed_steps": 7400,
      "tcp_position": [
        0.2928994889266821,
        0.037768528030083404,
        0.22473777318084737
      ],
      "shoe_position": [
        0.3199999773254193,
        -0.14500005223093665,
        -0.00010773877981746435
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009115248529307509
    },
    {
      "completed_steps": 7410,
      "tcp_position": [
        0.2931269758417577,
        0.03786405030435879,
        0.22491442189570568
      ],
      "shoe_position": [
        0.3199999773254427,
        -0.1450000522310486,
        -0.00010773877982241402
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008812709392517727
    },
    {
      "completed_steps": 7420,
      "tcp_position": [
        0.2933218536379254,
        0.0379482966015767,
        0.22507164877880903
      ],
      "shoe_position": [
        0.31999997732562496,
        -0.14500005223192117,
        -0.00010773877981799397
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008549606507191217
    },
    {
      "completed_steps": 7430,
      "tcp_position": [
        0.293488692066467,
        0.03802265175153673,
        0.22521189595054403
      ],
      "shoe_position": [
        0.3199999773256473,
        -0.14500005223202783,
        -0.0001077387798227964
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008320635642149417
    },
    {
      "completed_steps": 7440,
      "tcp_position": [
        0.293631766723971,
        0.03808841238066779,
        0.22533745763754037
      ],
      "shoe_position": [
        0.31999997732582103,
        -0.1450000522328591,
        -0.00010773877981861541
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008120828995000304
    },
    {
      "completed_steps": 7450,
      "tcp_position": [
        0.29376155980216484,
        0.038148509725011964,
        0.22545378726748388
      ],
      "shoe_position": [
        0.3199999773258423,
        -0.14500005223296072,
        -0.00010773877982321387
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007938148559307294
    },
    {
      "completed_steps": 7460,
      "tcp_position": [
        0.2938867785090553,
        0.03820545591803593,
        0.22556559465949283
      ],
      "shoe_position": [
        0.31999997732600777,
        -0.14500005223375267,
        -0.00010773877981925736
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007762461992395113
    },
    {
      "completed_steps": 7470,
      "tcp_position": [
        0.29400934079094754,
        0.03825993243594803,
        0.2256740960000035
      ],
      "shoe_position": [
        0.3199999773260281,
        -0.14500005223384949,
        -0.00010773877982364405
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00759139501696866
    },
    {
      "completed_steps": 7480,
      "tcp_position": [
        0.2941296319963359,
        0.0383121707559894,
        0.2257796278837945
      ],
      "shoe_position": [
        0.3199999773262329,
        -0.14500005223483065,
        -0.00010773877981784682
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007424387439689922
    },
    {
      "completed_steps": 7490,
      "tcp_position": [
        0.29424774531564585,
        0.03836230489950146,
        0.22588233241487204
      ],
      "shoe_position": [
        0.31999997732625224,
        -0.14500005223492296,
        -0.00010773877982286059
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007261244076429648
    },
    {
      "completed_steps": 7500,
      "tcp_position": [
        0.2943637185719288,
        0.0384104442402148,
        0.22598230609466935
      ],
      "shoe_position": [
        0.3199999773264474,
        -0.1450000522358584,
        -0.00010773877981785739
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007101846250575823
    },
    {
      "completed_steps": 7510,
      "tcp_position": [
        0.2944775794532433,
        0.03845668863360967,
        0.2260796329122569
      ],
      "shoe_position": [
        0.3199999773264659,
        -0.14500005223594642,
        -0.00010773877982294269
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006946093633944847
    },
    {
      "completed_steps": 7520,
      "tcp_position": [
        0.2945893541327941,
        0.03850113173678433,
        0.22617439191071553
      ],
      "shoe_position": [
        0.31999997732665203,
        -0.1450000522368375,
        -0.00010773877981837363
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0067938922587561235
    },
    {
      "completed_steps": 7530,
      "tcp_position": [
        0.29469906887442665,
        0.038543861918715304,
        0.2262666590071308
      ],
      "shoe_position": [
        0.3199999773266696,
        -0.14500005223692136,
        -0.00010773877982330111
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006645151907885728
    },
    {
      "completed_steps": 7540,
      "tcp_position": [
        0.29480675029099795,
        0.038584962672505496,
        0.22635650749036457
      ],
      "shoe_position": [
        0.319999977326847,
        -0.14500005223777018,
        -0.00010773877981901988
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00649978544615298
    },
    {
      "completed_steps": 7550,
      "tcp_position": [
        0.2949124253452115,
        0.03862451291553455,
        0.22644400820691368
      ],
      "shoe_position": [
        0.31999997732686364,
        -0.1450000522378501,
        -0.00010773877982372573
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006357708566777399
    },
    {
      "completed_steps": 7560,
      "tcp_position": [
        0.29501612130351884,
        0.03866258725509504,
        0.22652922967016126
      ],
      "shoe_position": [
        0.31999997732703256,
        -0.14500005223865883,
        -0.00010773877981965349
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006218839634044429
    },
    {
      "completed_steps": 7570,
      "tcp_position": [
        0.29511786568397164,
        0.038699256235405835,
        0.22661223814883516
      ],
      "shoe_position": [
        0.31999997732709545,
        -0.1450000522389597,
        -0.00010773877982151718
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006083099553770275
    },
    {
      "completed_steps": 7580,
      "tcp_position": [
        0.2952176862058996,
        0.03873458656970982,
        0.22669309774817736
      ],
      "shoe_position": [
        0.3199999773272565,
        -0.14500005223973106,
        -0.0001077387798183122
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005950411656172303
    },
    {
      "completed_steps": 7590,
      "tcp_position": [
        0.29531561074279405,
        0.03876864135879074,
        0.2267718704871728
      ],
      "shoe_position": [
        0.3199999773273164,
        -0.145000052240018,
        -0.00010773877982089889
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005820701587256745
    },
    {
      "completed_steps": 7600,
      "tcp_position": [
        0.2954116672785094,
        0.03880148029677589,
        0.22684861637274178
      ],
      "shoe_position": [
        0.3199999773274699,
        -0.14500005224075335,
        -0.0001077387798183596
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005693897207385169
    },
    {
      "completed_steps": 7610,
      "tcp_position": [
        0.2955058838666364,
        0.038833159864980614,
        0.22692339347116747
      ],
      "shoe_position": [
        0.3199999773275271,
        -0.14500005224102672,
        -0.00010773877982111766
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005569928496318961
    },
    {
      "completed_steps": 7620,
      "tcp_position": [
        0.29559828859286447,
        0.03886373351449338,
        0.22699625797690867
      ],
      "shoe_position": [
        0.3199999773276734,
        -0.14500005224172727,
        -0.0001077387798188738
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0054487274641954134
    },
    {
      "completed_steps": 7630,
      "tcp_position": [
        0.2956889095401525,
        0.038893251838163195,
        0.2270672642788878
      ],
      "shoe_position": [
        0.31999997732772784,
        -0.14500005224198764,
        -0.00010773877982157657
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0053302280679727925
    },
    {
      "completed_steps": 7640,
      "tcp_position": [
        0.2957777747565327,
        0.03892176273261481,
        0.22713646502434484
      ],
      "shoe_position": [
        0.3199999773278673,
        -0.145000052242655,
        -0.00010773877981947926
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0052143661329207575
    },
    {
      "completed_steps": 7650,
      "tcp_position": [
        0.29586491222538425,
        0.03894931155087209,
        0.22720391118034058
      ],
      "shoe_position": [
        0.31999997732796814,
        -0.14500005224313822,
        -0.00010773877981934998
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005101079278773447
    },
    {
      "completed_steps": 7660,
      "tcp_position": [
        0.29595034983802143,
        0.038975941246144494,
        0.22726965209298888
      ],
      "shoe_position": [
        0.31999997732810104,
        -0.14500005224377463,
        -0.00010773877981816317
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004990306850192791
    },
    {
      "completed_steps": 7670,
      "tcp_position": [
        0.2960341153684537,
        0.03900169250729641,
        0.22733373554449937
      ],
      "shoe_position": [
        0.3199999773281972,
        -0.14500005224423532,
        -0.00010773877981885003
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00488198985121736
    },
    {
      "completed_steps": 7680,
      "tcp_position": [
        0.296116236450179,
        0.03902660388648217,
        0.2273962078081062
      ],
      "shoe_position": [
        0.31999997732832375,
        -0.145000052244842,
        -0.00010773877981821607
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004776070883403742
    },
    {
      "completed_steps": 7690,
      "tcp_position": [
        0.29619674055488554,
        0.03905071191941005,
        0.22745711370096056
      ],
      "shoe_position": [
        0.3199999773284154,
        -0.14500005224528087,
        -0.00010773877981916847
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004672494087384701
    },
    {
      "completed_steps": 7700,
      "tcp_position": [
        0.2962756549729372,
        0.039074051238665024,
        0.2275164966350575
      ],
      "shoe_position": [
        0.3199999773285361,
        -0.14500005224585877,
        -0.00010773877981873302
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004571205087600654
    },
    {
      "completed_steps": 7710,
      "tcp_position": [
        0.2963530067955347,
        0.039096654680495065,
        0.22757439866627194
      ],
      "shoe_position": [
        0.31999997732862356,
        -0.14500005224627682,
        -0.00010773877981972989
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0044721509399695695
    },
    {
      "completed_steps": 7720,
      "tcp_position": [
        0.29642882289844136,
        0.039118553385445995,
        0.22763086054157025
      ],
      "shoe_position": [
        0.3199999773287386,
        -0.14500005224682733,
        -0.00010773877981936708
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004375280082291221
    },
    {
      "completed_steps": 7730,
      "tcp_position": [
        0.2965031299271774,
        0.03913977689320086,
        0.22768592174446586
      ],
      "shoe_position": [
        0.31999997732882185,
        -0.1450000522472256,
        -0.00010773877982032087
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004280542287188532
    },
    {
      "completed_steps": 7740,
      "tcp_position": [
        0.29657595428358613,
        0.039160353231962874,
        0.22773962053878533
      ],
      "shoe_position": [
        0.3199999773289315,
        -0.1450000522477501,
        -0.00010773877981997136
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004187888617411938
    },
    {
      "completed_steps": 7750,
      "tcp_position": [
        0.29664732211368267,
        0.039180309002702696,
        0.2277919940108031
      ],
      "shoe_position": [
        0.3199999773290596,
        -0.1450000522483638,
        -0.00010773877981821059
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004097271383345365
    },
    {
      "completed_steps": 7760,
      "tcp_position": [
        0.29671725929670967,
        0.039199669458564235,
        0.22784307810981533
      ],
      "shoe_position": [
        0.3199999773291641,
        -0.145000052248864,
        -0.00010773877981873455
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004008644102555347
    },
    {
      "completed_steps": 7770,
      "tcp_position": [
        0.2967857914353106,
        0.0392184585797155,
        0.2278929076872
      ],
      "shoe_position": [
        0.31999997732928626,
        -0.14500005224944912,
        -0.0001077387798178271
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003921961461259394
    },
    {
      "completed_steps": 7780,
      "tcp_position": [
        0.29685294384675426,
        0.03923669914390707,
        0.22794151653402883
      ],
      "shoe_position": [
        0.3199999773293859,
        -0.14500005224992604,
        -0.00010773877981879575
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003837179277577572
    },
    {
      "completed_steps": 7790,
      "tcp_position": [
        0.29691874155514325,
        0.03925441279298724,
        0.227988937417285
      ],
      "shoe_position": [
        0.31999997732950225,
        -0.14500005225048349,
        -0.00010773877981823297
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0037542544664498265
    },
    {
      "completed_steps": 7800,
      "tcp_position": [
        0.29698320928453326,
        0.03927162009561049,
        0.22803520211473416
      ],
      "shoe_position": [
        0.31999997732959706,
        -0.14500005225093782,
        -0.00010773877981931614
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0036731450061207645
    },
    {
      "completed_steps": 7810,
      "tcp_position": [
        0.2970463714529139,
        0.03928834060635928,
        0.2280803414485074
      ],
      "shoe_position": [
        0.319999977329708,
        -0.1450000522514688,
        -0.00010773877981884649
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0035938099060798525
    },
    {
      "completed_steps": 7820,
      "tcp_position": [
        0.29710825216697934,
        0.03930459292148735,
        0.2281243853174394
      ],
      "shoe_position": [
        0.31999997732979835,
        -0.14500005225190157,
        -0.00010773877981990908
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0035162091763804525
    },
    {
      "completed_steps": 7830,
      "tcp_position": [
        0.2971688752176499,
        0.03932039473147851,
        0.22816736272821392
      ],
      "shoe_position": [
        0.31999997732990415,
        -0.14500005225240745,
        -0.00010773877981946966
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003440303798239131
    },
    {
      "completed_steps": 7840,
      "tcp_position": [
        0.29722826407628244,
        0.039335762870610136,
        0.22820930182535906
      ],
      "shoe_position": [
        0.3199999773299904,
        -0.14500005225281976,
        -0.00010773877982048391
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0033660556958477173
    },
    {
      "completed_steps": 7850,
      "tcp_position": [
        0.2972864418915279,
        0.03935071336368943,
        0.2282502299201387
      ],
      "shoe_position": [
        0.31999997733013974,
        -0.1450000522535351,
        -0.00010773877981746405
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0032934277093210826
    },
    {
      "completed_steps": 7860,
      "tcp_position": [
        0.2973434314867891,
        0.039365261470129316,
        0.22829017351838013
      ],
      "shoe_position": [
        0.31999997733022184,
        -0.1450000522539283,
        -0.00010773877981932227
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0032223835687165683
    },
    {
      "completed_steps": 7870,
      "tcp_position": [
        0.29739925535823825,
        0.03937942172551617,
        0.22832915834728162
      ],
      "shoe_position": [
        0.31999997733036417,
        -0.14500005225461032,
        -0.00010773877981717597
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0031528878690610693
    },
    {
      "completed_steps": 7880,
      "tcp_position": [
        0.2974539356733524,
        0.039393207980815824,
        0.22836720938123878
      ],
      "shoe_position": [
        0.31999997733044244,
        -0.14500005225498522,
        -0.00010773877981938926
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0030849060463307237
    },
    {
      "completed_steps": 7890,
      "tcp_position": [
        0.2975074942699323,
        0.03940663343935219,
        0.22840435086672262
      ],
      "shoe_position": [
        0.31999997733057806,
        -0.14500005225563492,
        -0.00010773877981761976
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0030184043543309866
    },
    {
      "completed_steps": 7900,
      "tcp_position": [
        0.29755995265556795,
        0.03941971069169007,
        0.2284406063462559
      ],
      "shoe_position": [
        0.31999997733065266,
        -0.14500005225599205,
        -0.0001077387798198707
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0029533498424240325
    },
    {
      "completed_steps": 7910,
      "tcp_position": [
        0.29761133200751966,
        0.03943245174853807,
        0.22847599868151047
      ],
      "shoe_position": [
        0.31999997733078184,
        -0.14500005225661095,
        -0.00010773877981825658
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002889710334063841
    },
    {
      "completed_steps": 7920,
      "tcp_position": [
        0.2976616531729803,
        0.03944486807179184,
        0.22851055007556992
      ],
      "shoe_position": [
        0.31999997733085295,
        -0.1450000522569512,
        -0.00010773877982043307
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002827454406092848
    },
    {
      "completed_steps": 7930,
      "tcp_position": [
        0.29771093666969795,
        0.03945697060382004,
        0.22854428209438277
      ],
      "shoe_position": [
        0.3199999773309762,
        -0.14500005225754087,
        -0.0001077387798189167
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0027665513687592557
    },
    {
      "completed_steps": 7940,
      "tcp_position": [
        0.2977592026869205,
        0.0394687697950961,
        0.2285772156874411
      ],
      "shoe_position": [
        0.319999977331044,
        -0.14500005225786494,
        -0.0001077387798209975
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0027069712464247043
    },
    {
      "completed_steps": 7950,
      "tcp_position": [
        0.2978064710866462,
        0.03948027563027104,
        0.2286093712077133
      ],
      "shoe_position": [
        0.31999997733120983,
        -0.1450000522586592,
        -0.00010773877981702786
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002648684758922056
    },
    {
      "completed_steps": 7960,
      "tcp_position": [
        0.29785276140515327,
        0.03949149765277677,
        0.2286407684308588
      ],
      "shoe_position": [
        0.31999997733127433,
        -0.14500005225896836,
        -0.00010773877981991454
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0025916633035332685
    },
    {
      "completed_steps": 7970,
      "tcp_position": [
        0.29789809285478286,
        0.03950244498804315,
        0.22867142657375383
      ],
      "shoe_position": [
        0.3199999773314324,
        -0.1450000522597256,
        -0.00010773877981682332
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0025358789375610406
    },
    {
      "completed_steps": 7980,
      "tcp_position": [
        0.29794248432596027,
        0.039513126365411454,
        0.2287013643123553
      ],
      "shoe_position": [
        0.3199999773314939,
        -0.1450000522600203,
        -0.00010773877981999045
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002481304361460127
    },
    {
      "completed_steps": 7990,
      "tcp_position": [
        0.2979859543894305,
        0.03952355013881484,
        0.22873059979892452
      ],
      "shoe_position": [
        0.3199999773316444,
        -0.1450000522607417,
        -0.00010773877981730614
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0024279129025086854
    },
    {
      "completed_steps": 8000,
      "tcp_position": [
        0.2980285212986901,
        0.03953372430630128,
        0.2287591506786397
      ],
      "shoe_position": [
        0.319999977331703,
        -0.14500005226102244,
        -0.00010773877982045224
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002375678498992031
    },
    {
      "completed_steps": 8010,
      "tcp_position": [
        0.2980702029926003,
        0.039543656528460286,
        0.22878703410561896
      ],
      "shoe_position": [
        0.3199999773318465,
        -0.14500005226170964,
        -0.00010773877981798062
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002324575684876144
    },
    {
      "completed_steps": 8020,
      "tcp_position": [
        0.2981110170981618,
        0.03955335414582071,
        0.2288142667583743
      ],
      "shoe_position": [
        0.31999997733190244,
        -0.14500005226197712,
        -0.00010773877982100755
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002274579574952003
    },
    {
      "completed_steps": 8030,
      "tcp_position": [
        0.2981509809334399,
        0.03956282419527725,
        0.2288408648547242
      ],
      "shoe_position": [
        0.3199999773320393,
        -0.1450000522626319,
        -0.00010773877981865097
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0022256658504257337
    },
    {
      "completed_steps": 8040,
      "tcp_position": [
        0.298190111510623,
        0.03957207342559833,
        0.22886684416617736
      ],
      "shoe_position": [
        0.3199999773320926,
        -0.14500005226288673,
        -0.00010773877982153457
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021778107449419663
    },
    {
      "completed_steps": 8050,
      "tcp_position": [
        0.29822842553920026,
        0.039581108312072524,
        0.22889222003181373
      ],
      "shoe_position": [
        0.31999997733227115,
        -0.14500005226374207,
        -0.00010773877981685573
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002130991031019931
    },
    {
      "completed_steps": 8060,
      "tcp_position": [
        0.29826593942924945,
        0.03958993507033908,
        0.22891700737168166
      ],
      "shoe_position": [
        0.3199999773323219,
        -0.14500005226398505,
        -0.00010773877982051341
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020851840068831775
    },
    {
      "completed_steps": 8070,
      "tcp_position": [
        0.29830266929482163,
        0.03959855966945224,
        0.22894122069972667
      ],
      "shoe_position": [
        0.3199999773324921,
        -0.1450000522648004,
        -0.00010773877981671274
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002040367483670249
    },
    {
      "completed_steps": 8080,
      "tcp_position": [
        0.29833863095740837,
        0.03960698784422005,
        0.22896487413626987
      ],
      "shoe_position": [
        0.3199999773325405,
        -0.14500005226503207,
        -0.00010773877982059246
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0019965197730139493
    },
    {
      "completed_steps": 8090,
      "tcp_position": [
        0.2983738399494891,
        0.03961522510686121,
        0.2289879814200585
      ],
      "shoe_position": [
        0.31999997733270263,
        -0.1450000522658089,
        -0.00010773877981721931
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001953619674966055
    },
    {
      "completed_steps": 8100,
      "tcp_position": [
        0.29840831151814007,
        0.03962327675801858,
        0.22901055591989627
      ],
      "shoe_position": [
        0.3199999773327487,
        -0.1450000522660296,
        -0.00010773877982103361
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001911646466265889
    },
    {
      "completed_steps": 8110,
      "tcp_position": [
        0.29844206062870315,
        0.03963114789716457,
        0.22903261064587482
      ],
      "shoe_position": [
        0.3199999773329033,
        -0.1450000522667696,
        -0.00010773877981790276
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018705798889322106
    },
    {
      "completed_steps": 8120,
      "tcp_position": [
        0.2984751019685023,
        0.03963884343243594,
        0.2290541582602244
      ],
      "shoe_position": [
        0.31999997733294727,
        -0.14500005226697985,
        -0.00010773877982156174
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018304001391668233
    },
    {
      "completed_steps": 8130,
      "tcp_position": [
        0.29850744995060025,
        0.03964636808992654,
        0.22907521108778625
      ],
      "shoe_position": [
        0.31999997733309465,
        -0.1450000522676849,
        -0.00010773877981859565
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017910878565661954
    },
    {
      "completed_steps": 8140,
      "tcp_position": [
        0.29853911871759026,
        0.03965372642247336,
        0.22909578112613596
      ],
      "shoe_position": [
        0.31999997733313645,
        -0.1450000522678852,
        -0.00010773877982207977
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017526241136193944
    },
    {
      "completed_steps": 8150,
      "tcp_position": [
        0.29857012214541473,
        0.039660922817960374,
        0.2291158800553582
      ],
      "shoe_position": [
        0.3199999773333249,
        -0.1450000522687875,
        -0.00010773877981690821
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001714990405491149
    },
    {
      "completed_steps": 8160,
      "tcp_position": [
        0.2986004738472037,
        0.03966796150717071,
        0.22913551924749553
      ],
      "shoe_position": [
        0.31999997733336477,
        -0.1450000522689785,
        -0.00010773877982112513
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016781686400752186
    },
    {
      "completed_steps": 8170,
      "tcp_position": [
        0.2986301871771289,
        0.039674846571212063,
        0.2291547097756743
      ],
      "shoe_position": [
        0.31999997733354435,
        -0.14500005226983873,
        -0.00010773877981681813
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016421411283124257
    },
    {
      "completed_steps": 8180,
      "tcp_position": [
        0.29865927523426694,
        0.03968158194853729,
        0.22917346242292919
      ],
      "shoe_position": [
        0.3199999773335824,
        -0.14500005227002083,
        -0.00010773877982120703
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016068905747615029
    },
    {
      "completed_steps": 8190,
      "tcp_position": [
        0.29868775086646754,
        0.03968817144158797,
        0.22919178769072868
      ],
      "shoe_position": [
        0.31999997733375346,
        -0.14500005227084034,
        -0.0001077387798173399
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015724000684163347
    },
    {
      "completed_steps": 8200,
      "tcp_position": [
        0.298715626674221,
        0.039694618723076384,
        0.22920969580721995
      ],
      "shoe_position": [
        0.3199999773337898,
        -0.1450000522710138,
        -0.00010773877982162899
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015386530737608662
    },
    {
      "completed_steps": 8210,
      "tcp_position": [
        0.2987429150145221,
        0.03970092734193227,
        0.22922719673519765
      ],
      "shoe_position": [
        0.3199999773339529,
        -0.1450000522717945,
        -0.00010773877981800294
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015056334220542608
    },
    {
      "completed_steps": 8220,
      "tcp_position": [
        0.29876962800472373,
        0.03970710072892769,
        0.22924430017981162
      ],
      "shoe_position": [
        0.31999997733398744,
        -0.14500005227195975,
        -0.00010773877982211212
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014733253028396454
    },
    {
      "completed_steps": 8230,
      "tcp_position": [
        0.2987957775263802,
        0.03971314220200351,
        0.22926101559601803
      ],
      "shoe_position": [
        0.3199999773341429,
        -0.14500005227270352,
        -0.0001077387798186826
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001441713255668742
    },
    {
      "completed_steps": 8240,
      "tcp_position": [
        0.2988213752290746,
        0.03971905497131009,
        0.22927735219578915
      ],
      "shoe_position": [
        0.31999997733417584,
        -0.14500005227286097,
        -0.00010773877982260013
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014107821620346955
    },
    {
      "completed_steps": 8250,
      "tcp_position": [
        0.29884643253422616,
        0.03972484214398078,
        0.22929331895508612
      ],
      "shoe_position": [
        0.3199999773343718,
        -0.14500005227379928,
        -0.00010773877981706737
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013805172375097464
    },
    {
      "completed_steps": 8260,
      "tcp_position": [
        0.2988709606388778,
        0.03973050672865287,
        0.2293089246206035
      ],
      "shoe_position": [
        0.3199999773344032,
        -0.14500005227394946,
        -0.00010773877982168767
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001350904024078908
    },
    {
      "completed_steps": 8270,
      "tcp_position": [
        0.2988949705194576,
        0.039736051639749415,
        0.2293241777162982
      ],
      "shoe_position": [
        0.3199999773345899,
        -0.14500005227484397,
        -0.00010773877981702953
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013219283826647421
    },
    {
      "completed_steps": 8280,
      "tcp_position": [
        0.29891847293551577,
        0.03974147970153589,
        0.22933908654970542
      ],
      "shoe_position": [
        0.3199999773346198,
        -0.14500005227498716,
        -0.00010773877982178191
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001293576485836897
    },
    {
      "completed_steps": 8290,
      "tcp_position": [
        0.29894147843343005,
        0.03974679365196526,
        0.229353659218051
      ],
      "shoe_position": [
        0.31999997733479774,
        -0.1450000522758393,
        -0.00010773877981756457
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012658348107036745
    },
    {
      "completed_steps": 8300,
      "tcp_position": [
        0.2989639973500823,
        0.03975199614632135,
        0.22936790361417103
      ],
      "shoe_position": [
        0.3199999773348262,
        -0.14500005227597565,
        -0.00010773877982218842
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012386901319757248
    },
    {
      "completed_steps": 8310,
      "tcp_position": [
        0.29898603981650174,
        0.03975708976067403,
        0.22938182743223914
      ],
      "shoe_position": [
        0.31999997733499574,
        -0.14500005227678742,
        -0.00010773877981822476
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012121295152009424
    },
    {
      "completed_steps": 8320,
      "tcp_position": [
        0.29900761576147195,
        0.03976207699515428,
        0.2293954381733132
      ],
      "shoe_position": [
        0.319999977335023,
        -0.14500005227691734,
        -0.00010773877982264849
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011861403101659557
    },
    {
      "completed_steps": 8330,
      "tcp_position": [
        0.29902873491510557,
        0.03976696027706281,
        0.22940874315070725
      ],
      "shoe_position": [
        0.31999997733518465,
        -0.14500005227769078,
        -0.00010773877981889439
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011607101444534795
    },
    {
      "completed_steps": 8340,
      "tcp_position": [
        0.2990494068123781,
        0.039771741963817595,
        0.2294217494951931
      ],
      "shoe_position": [
        0.3199999773352105,
        -0.14500005227781454,
        -0.00010773877982311014
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011358269171596526
    },
    {
      "completed_steps": 8350,
      "tcp_position": [
        0.29906964079662435,
        0.03977642434575156,
        0.2294344641600392
      ],
      "shoe_position": [
        0.31999997733541213,
        -0.14500005227878007,
        -0.00010773877981738951
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011114787927614933
    },
    {
      "completed_steps": 8360,
      "tcp_position": [
        0.29908944602299536,
        0.03978100964876892,
        0.2294468939258909
      ],
      "shoe_position": [
        0.31999997733543684,
        -0.1450000522788981,
        -0.00010773877982226929
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010876541951317237
    },
    {
      "completed_steps": 8370,
      "tcp_position": [
        0.2991088314618756,
        0.03978550003686678,
        0.2294590454055008
      ],
      "shoe_position": [
        0.319999977335629,
        -0.1450000522798186,
        -0.00010773877981738308
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010643418016956275
    },
    {
      "completed_steps": 8380,
      "tcp_position": [
        0.299127805902256,
        0.03978989761453082,
        0.22947092504831035
      ],
      "shoe_position": [
        0.3199999773356525,
        -0.14500005227993112,
        -0.0001077387798223592
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010415305377302583
    },
    {
      "completed_steps": 8390,
      "tcp_position": [
        0.299146377955068,
        0.03979420442901096,
        0.22948253914489175
      ],
      "shoe_position": [
        0.3199999773358355,
        -0.14500005228080806,
        -0.00010773877981791227
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010192095707959026
    },
    {
      "completed_steps": 8400,
      "tcp_position": [
        0.29916455605647185,
        0.03979842247248438,
        0.2294938938312508
      ],
      "shoe_position": [
        0.3199999773358579,
        -0.14500005228091525,
        -0.00010773877982274206
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009973683053030931
    },
    {
      "completed_steps": 8410,
      "tcp_position": [
        0.2991823484711033,
        0.03980255368411211,
        0.22950499509300204
      ],
      "shoe_position": [
        0.3199999773360324,
        -0.14500005228175064,
        -0.00010773877981855788
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009759963772047753
    },
    {
      "completed_steps": 8420,
      "tcp_position": [
        0.2991997632952754,
        0.03980659995199386,
        0.2295158487694111
      ],
      "shoe_position": [
        0.31999997733605384,
        -0.14500005228185275,
        -0.00010773877982317766
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009550836488171887
    },
    {
      "completed_steps": 8430,
      "tcp_position": [
        0.2992168084601374,
        0.039810563115029535,
        0.22952646055732
      ],
      "shoe_position": [
        0.31999997733622015,
        -0.14500005228264862,
        -0.00010773877981921458
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009346202037583889
    },
    {
      "completed_steps": 8440,
      "tcp_position": [
        0.2992334917347863,
        0.03981444496468893,
        0.22953683601495006
      ],
      "shoe_position": [
        0.31999997733624047,
        -0.14500005228274593,
        -0.00010773877982361534
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009145963420097035
    },
    {
      "completed_steps": 8450,
      "tcp_position": [
        0.2992498207293366,
        0.03981824724669744,
        0.22954698056558942
      ],
      "shoe_position": [
        0.3199999773364463,
        -0.14500005228373194,
        -0.00010773877981778803
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008950025750911668
    },
    {
      "completed_steps": 8460,
      "tcp_position": [
        0.2992658028979433,
        0.039821971662641065,
        0.22955689950117453
      ],
      "shoe_position": [
        0.3199999773364658,
        -0.14500005228382468,
        -0.00010773877982282126
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008758296213480212
    },
    {
      "completed_steps": 8470,
      "tcp_position": [
        0.2992814455417807,
        0.039825619871496354,
        0.2295665979857604
      ],
      "shoe_position": [
        0.31999997733666197,
        -0.14500005228476465,
        -0.00010773877981780311
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008570684013488648
    },
    {
      "completed_steps": 8480,
      "tcp_position": [
        0.2992967558119749,
        0.03982919349108685,
        0.22957608105888863
      ],
      "shoe_position": [
        0.31999997733668045,
        -0.1450000522848531,
        -0.00010773877982290665
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000838710033391252
    },
    {
      "completed_steps": 8490,
      "tcp_position": [
        0.2993117407124926,
        0.039832694099473286,
        0.22958535363885674
      ],
      "shoe_position": [
        0.3199999773368674,
        -0.14500005228574864,
        -0.00010773877981832492
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008207458291094587
    },
    {
      "completed_steps": 8500,
      "tcp_position": [
        0.2993264071029835,
        0.03983612323627913,
        0.22959442052589088
      ],
      "shoe_position": [
        0.31999997733688507,
        -0.1450000522858329,
        -0.00010773877982326972
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008031672891853195
    },
    {
      "completed_steps": 8510,
      "tcp_position": [
        0.2993407617015792,
        0.03983948240395477,
        0.22960328640522346
      ],
      "shoe_position": [
        0.31999997733706337,
        -0.14500005228668597,
        -0.0001077387798189525
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007859660991578588
    },
    {
      "completed_steps": 8520,
      "tcp_position": [
        0.29935481108764544,
        0.03984277306898536,
        0.22961195585008332
      ],
      "shoe_position": [
        0.31999997733708013,
        -0.14500005228676624,
        -0.00010773877982368037
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007691341253293167
    },
    {
      "completed_steps": 8530,
      "tcp_position": [
        0.2993685617044909,
        0.039845996663043386,
        0.22962043332459625
      ],
      "shoe_position": [
        0.31999997733724994,
        -0.14500005228757898,
        -0.00010773877981958947
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000752663410766243
    },
    {
      "completed_steps": 8540,
      "tcp_position": [
        0.29938201986203183,
        0.03984915458409027,
        0.22962872318660427
      ],
      "shoe_position": [
        0.31999997733731317,
        -0.1450000522878814,
        -0.0001077387798214647
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007365461713901023
    },
    {
      "completed_steps": 8550,
      "tcp_position": [
        0.299395191739412,
        0.03985224819742963,
        0.22963682969040022
      ],
      "shoe_position": [
        0.319999977337475,
        -0.14500005228865662,
        -0.00010773877981824747
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007207747921598609
    },
    {
      "completed_steps": 8560,
      "tcp_position": [
        0.2994080833875781,
        0.03985527883671374,
        0.2296447569893857
      ],
      "shoe_position": [
        0.31999997733753516,
        -0.14500005228894494,
        -0.00010773877982084248
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007053418233412021
    },
    {
      "completed_steps": 8570,
      "tcp_position": [
        0.2994207007318128,
        0.039858247804907224,
        0.22965250913865193
      ],
      "shoe_position": [
        0.3199999773376894,
        -0.14500005228968393,
        -0.00010773877981828375
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006902399768604003
    },
    {
      "completed_steps": 8580,
      "tcp_position": [
        0.29943304957422373,
        0.03986115637520835,
        0.22966009009748778
      ],
      "shoe_position": [
        0.3199999773377469,
        -0.14500005228995866,
        -0.00010773877982105485
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006754621227419334
    },
    {
      "completed_steps": 8590,
      "tcp_position": [
        0.29944513559619035,
        0.03986400579193259,
        0.22966750373181588
      ],
      "shoe_position": [
        0.3199999773378939,
        -0.1450000522906627,
        -0.00010773877981879557
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006610012856260436
    },
    {
      "completed_steps": 8600,
      "tcp_position": [
        0.2994569643607676,
        0.03986679727135811,
        0.22967475381655889
      ],
      "shoe_position": [
        0.3199999773379487,
        -0.14500005229092444,
        -0.00010773877982151604
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006468506413672473
    },
    {
      "completed_steps": 8610,
      "tcp_position": [
        0.299468541315047,
        0.03986953200253683,
        0.2296818440379406
      ],
      "shoe_position": [
        0.3199999773380889,
        -0.14500005229159507,
        -0.00010773877981941364
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006330035137090014
    },
    {
      "completed_steps": 8620,
      "tcp_position": [
        0.2994798717924777,
        0.03987221114807106,
        0.22968877799572146
      ],
      "shoe_position": [
        0.31999997733814095,
        -0.1450000522918444,
        -0.0001077387798220191
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006194533710335429
    },
    {
      "completed_steps": 8630,
      "tcp_position": [
        0.2994909610151454,
        0.03987483584486035,
        0.22969555920537116
      ],
      "shoe_position": [
        0.31999997733827446,
        -0.14500005229248336,
        -0.00010773877982002343
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006061938231851875
    },
    {
      "completed_steps": 8640,
      "tcp_position": [
        0.2995018140960093,
        0.039877407204816834,
        0.22970219110018164
      ],
      "shoe_position": [
        0.3199999773383711,
        -0.14500005229294605,
        -0.00010773877981989719
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005932186183666864
    },
    {
      "completed_steps": 8650,
      "tcp_position": [
        0.29951243604110167,
        0.03987992631555287,
        0.22970867703332135
      ],
      "shoe_position": [
        0.3199999773384983,
        -0.14500005229355548,
        -0.0001077387798187564
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000580521640102906
    },
    {
      "completed_steps": 8660,
      "tcp_position": [
        0.2995228317516835,
        0.039882394241041876,
        0.22971502027983048
      ],
      "shoe_position": [
        0.3199999773385904,
        -0.14500005229399662,
        -0.00010773877981941379
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000568096904277308
    },
    {
      "completed_steps": 8670,
      "tcp_position": [
        0.2995330060263649,
        0.03988481202225355,
        0.22972122403856504
      ],
      "shoe_position": [
        0.3199999773387117,
        -0.14500005229457763,
        -0.00010773877981880674
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005559385562297301
    },
    {
      "completed_steps": 8680,
      "tcp_position": [
        0.2995429635631837,
        0.03988718067776427,
        0.22972729143408363
      ],
      "shoe_position": [
        0.31999997733879965,
        -0.1450000522949979,
        -0.00010773877981972097
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005440408679241037
    },
    {
      "completed_steps": 8690,
      "tcp_position": [
        0.29955270896164765,
        0.03988950120434525,
        0.22973322551848577
      ],
      "shoe_position": [
        0.3199999773389153,
        -0.14500005229555132,
        -0.00010773877981930543
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000532398235176128
    },
    {
      "completed_steps": 8700,
      "tcp_position": [
        0.29956224672473675,
        0.03989177457752858,
        0.22973902927319811
      ],
      "shoe_position": [
        0.31999997733899893,
        -0.14500005229595167,
        -0.00010773877982025988
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005210051749458187
    },
    {
      "completed_steps": 8710,
      "tcp_position": [
        0.2995715812608696,
        0.0398940017521516,
        0.22974470561071228
      ],
      "shoe_position": [
        0.31999997733910907,
        -0.14500005229647886,
        -0.00010773877981991167
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005098563226898488
    },
    {
      "completed_steps": 8720,
      "tcp_position": [
        0.29958071688583265,
        0.03989618366288314,
        0.22975025737627686
      ],
      "shoe_position": [
        0.3199999773392378,
        -0.14500005229709567,
        -0.00010773877981813405
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004989464297721198
    },
    {
      "completed_steps": 8730,
      "tcp_position": [
        0.2995896578246734,
        0.03989832122472985,
        0.2297556873495435
      ],
      "shoe_position": [
        0.3199999773393427,
        -0.14500005229759846,
        -0.00010773877981865625
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00048827036093263725
    },
    {
      "completed_steps": 8740,
      "tcp_position": [
        0.29959840821355666,
        0.03990041533352395,
        0.2297609982461679
      ],
      "shoe_position": [
        0.3199999773394654,
        -0.14500005229818655,
        -0.00010773877981774955
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00047782309181402274
    },
    {
      "completed_steps": 8750,
      "tcp_position": [
        0.29960697210158654,
        0.039902466866395966,
        0.2297661927193683
      ],
      "shoe_position": [
        0.3199999773395655,
        -0.14500005229866586,
        -0.00010773877981872593
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00046759970654215466
    },
    {
      "completed_steps": 8760,
      "tcp_position": [
        0.2996153534525942,
        0.0399044766822297,
        0.22977127336144293
      ],
      "shoe_position": [
        0.3199999773396824,
        -0.14500005229922605,
        -0.00010773877981815007
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004575953953599748
    },
    {
      "completed_steps": 8770,
      "tcp_position": [
        0.2996235561468883,
        0.039906445622102424,
        0.22977624270524644
      ],
      "shoe_position": [
        0.3199999773397777,
        -0.14500005229968266,
        -0.00010773877981923375
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004478054523169865
    },
    {
      "completed_steps": 8780,
      "tcp_position": [
        0.29963158398297685,
        0.039908374509709195,
        0.2297811032256287
      ],
      "shoe_position": [
        0.3199999773398893,
        -0.14500005230021631,
        -0.0001077387798187637
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004382252730050985
    },
    {
      "completed_steps": 8790,
      "tcp_position": [
        0.29963944067925136,
        0.03991026415177584,
        0.2297858573408329
      ],
      "shoe_position": [
        0.3199999773399801,
        -0.14500005230065127,
        -0.00010773877981983351
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004288503523496109
    },
    {
      "completed_steps": 8800,
      "tcp_position": [
        0.2996471298756403,
        0.039912115338455,
        0.22979050741386
      ],
      "shoe_position": [
        0.31999997734008634,
        -0.14500005230115967,
        -0.00010773877981939812
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004196762824465215
    },
    {
      "completed_steps": 8810,
      "tcp_position": [
        0.2996546551352295,
        0.039913928843712414,
        0.22979505575379502
      ],
      "shoe_position": [
        0.3199999773401729,
        -0.145000052301574,
        -0.00010773877982042257
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00041069875044924195
    },
    {
      "completed_steps": 8820,
      "tcp_position": [
        0.2996620199458526,
        0.039915705425699985,
        0.22979950461709997
      ],
      "shoe_position": [
        0.31999997734032287,
        -0.1450000523022929,
        -0.00010773877981739057
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000401913536500219
    },
    {
      "completed_steps": 8830,
      "tcp_position": [
        0.29966922772164895,
        0.03991744582711611,
        0.22980385620887345
      ],
      "shoe_position": [
        0.31999997734040536,
        -0.14500005230268806,
        -0.00010773877981925833
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003933165117098248
    },
    {
      "completed_steps": 8840,
      "tcp_position": [
        0.2996762818045908,
        0.03991915077555684,
        0.22980811268407508
      ],
      "shoe_position": [
        0.3199999773405485,
        -0.14500005230337346,
        -0.00010773877981711293
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00038490363618040455
    },
    {
      "completed_steps": 8850,
      "tcp_position": [
        0.2996831854659811,
        0.039920820983855056,
        0.2298122761487224
      ],
      "shoe_position": [
        0.3199999773406272,
        -0.1450000523037502,
        -0.00010773877981933903
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003766709570723231
    },
    {
      "completed_steps": 8860,
      "tcp_position": [
        0.2996899419079224,
        0.039922457150410505,
        0.22981634866105272
      ],
      "shoe_position": [
        0.31999997734076346,
        -0.14500005230440316,
        -0.00010773877981755897
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00036861460671326585
    },
    {
      "completed_steps": 8870,
      "tcp_position": [
        0.2996965542647537,
        0.03992405995950843,
        0.22982033223265846
      ],
      "shoe_position": [
        0.3199999773408384,
        -0.14500005230476204,
        -0.0001077387798198167
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00036073080075106487
    },
    {
      "completed_steps": 8880,
      "tcp_position": [
        0.2997030256044637,
        0.03992563008163144,
        0.22982422882959064
      ],
      "shoe_position": [
        0.31999997734096836,
        -0.14500005230538407,
        -0.00010773877981820173
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003530158363435884
    },
    {
      "completed_steps": 8890,
      "tcp_position": [
        0.29970935893007083,
        0.039927168173759846,
        0.2298280403734369
      ],
      "shoe_position": [
        0.31999997734103974,
        -0.14500005230572596,
        -0.00010773877982038886
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00034546609039204184
    },
    {
      "completed_steps": 8900,
      "tcp_position": [
        0.29971555718097814,
        0.03992867487966625,
        0.22983176874236866
      ],
      "shoe_position": [
        0.31999997734116364,
        -0.1450000523063185,
        -0.00010773877981886263
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003380780178123763
    },
    {
      "completed_steps": 8910,
      "tcp_position": [
        0.2997216232343021,
        0.039930150830198685,
        0.22983541577216582
      ],
      "shoe_position": [
        0.31999997734123176,
        -0.14500005230664426,
        -0.00010773877982094978
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003308481498423605
    },
    {
      "completed_steps": 8920,
      "tcp_position": [
        0.29972755990617317,
        0.03993159664355845,
        0.2298389832572123
      ],
      "shoe_position": [
        0.3199999773413984,
        -0.14500005230744245,
        -0.00010773877981695803
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003237730923884795
    },
    {
      "completed_steps": 8930,
      "tcp_position": [
        0.2997333699530099,
        0.039933012925570464,
        0.22984247295146773
      ],
      "shoe_position": [
        0.3199999773414633,
        -0.1450000523077531,
        -0.00010773877981985632
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003168495244084258
    },
    {
      "completed_steps": 8940,
      "tcp_position": [
        0.2997390560727693,
        0.03993440026994403,
        0.22984588656941496
      ],
      "shoe_position": [
        0.3199999773416222,
        -0.14500005230851407,
        -0.00010773877981676134
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00031007419632837557
    },
    {
      "completed_steps": 8950,
      "tcp_position": [
        0.2997446209061696,
        0.03993575925852918,
        0.22984922578698247
      ],
      "shoe_position": [
        0.31999997734168406,
        -0.14500005230881022,
        -0.00010773877981994297
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00030344392849653424
    },
    {
      "completed_steps": 8960,
      "tcp_position": [
        0.2997500670378904,
        0.0399370904615655,
        0.22985249224244597
      ],
      "shoe_position": [
        0.31999997734183533,
        -0.14500005230953514,
        -0.00010773877981725179
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00029695560966838935
    },
    {
      "completed_steps": 8970,
      "tcp_position": [
        0.29975539699774784,
        0.03993839443792384,
        0.22985568753730468
      ],
      "shoe_position": [
        0.3199999773418943,
        -0.14500005230981727,
        -0.00010773877982040883
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002906061955270031
    },
    {
      "completed_steps": 8980,
      "tcp_position": [
        0.2997606132618437,
        0.03993967173534219,
        0.22985881323713808
      ],
      "shoe_position": [
        0.3199999773420385,
        -0.14500005231050786,
        -0.00010773877981792042
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002843927072362258
    },
    {
      "completed_steps": 8990,
      "tcp_position": [
        0.29976571825369663,
        0.039940922890657364,
        0.22986187087244092
      ],
      "shoe_position": [
        0.31999997734209473,
        -0.14500005231077662,
        -0.0001077387798209579
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002783122300213677
    },
    {
      "completed_steps": 9000,
      "tcp_position": [
        0.2997707143453429,
        0.03994214843002767,
        0.2298648619394369
      ],
      "shoe_position": [
        0.31999997734223223,
        -0.1450000523114346,
        -0.00010773877981859782
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00027236191178750985
    },
    {
      "completed_steps": 9010,
      "tcp_position": [
        0.29997676113237615,
        0.03984071871182273,
        0.22989021182645164
      ],
      "shoe_position": [
        0.3199999773422858,
        -0.1450000523116907,
        -0.00010773877982149362
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.1232061419912987
    },
    {
      "completed_steps": 9020,
      "tcp_position": [
        0.30120403001808227,
        0.0390760127836722,
        0.2300566664823931
      ],
      "shoe_position": [
        0.3199999773424652,
        -0.1450000523125503,
        -0.0001077387798167854
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.12193642723863828
    },
    {
      "completed_steps": 9030,
      "tcp_position": [
        0.30394619098088277,
        0.037324483788635704,
        0.2307397883238257
      ],
      "shoe_position": [
        0.31999997734251623,
        -0.14500005231279448,
        -0.00010773877982045776
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.11897667364292085
    },
    {
      "completed_steps": 9040,
      "tcp_position": [
        0.3079027915285198,
        0.03457316735442212,
        0.2323880297047696
      ],
      "shoe_position": [
        0.31999997734268726,
        -0.14500005231361396,
        -0.00010773877981664888
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.11433662328168388
    },
    {
      "completed_steps": 9050,
      "tcp_position": [
        0.3126797961189772,
        0.030825899068800046,
        0.23499600055095926
      ],
      "shoe_position": [
        0.31999997734273583,
        -0.14500005231384677,
        -0.00010773877982054535
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.10823042832043982
    },
    {
      "completed_steps": 9060,
      "tcp_position": [
        0.31783510745931975,
        0.025991891057807158,
        0.23821227815361298
      ],
      "shoe_position": [
        0.31999997734289887,
        -0.14500005231462745,
        -0.00010773877981716317
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.10091056808307124
    },
    {
      "completed_steps": 9070,
      "tcp_position": [
        0.3231789313401604,
        0.020242042187713447,
        0.24179676643369774
      ],
      "shoe_position": [
        0.31999997734294516,
        -0.14500005231484925,
        -0.00010773877982099125
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.09268224649469177
    },
    {
      "completed_steps": 9080,
      "tcp_position": [
        0.32863534499740993,
        0.013789880074676198,
        0.24560445286315336
      ],
      "shoe_position": [
        0.3199999773431004,
        -0.14500005231559293,
        -0.00010773877981784062
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.08380829735159102
    },
    {
      "completed_steps": 9090,
      "tcp_position": [
        0.3341466764371244,
        0.006822152566205592,
        0.24953202499012658
      ],
      "shoe_position": [
        0.31999997734314456,
        -0.14500005231580423,
        -0.00010773877982151307
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.07451531663915008
    },
    {
      "completed_steps": 9100,
      "tcp_position": [
        0.3396731814870735,
        -0.0005217109296054019,
        0.2535085789293813
      ],
      "shoe_position": [
        0.31999997734329266,
        -0.14500005231651275,
        -0.00010773877981852334
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.06498317775030181
    },
    {
      "completed_steps": 9110,
      "tcp_position": [
        0.3451779973705944,
        -0.008157531952540747,
        0.25747447371579774
      ],
      "shoe_position": [
        0.3199999773433348,
        -0.14500005231671403,
        -0.00010773877982202411
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.055355415849708704
    },
    {
      "completed_steps": 9120,
      "tcp_position": [
        0.35059535535221736,
        -0.016039970604588682,
        0.2613716411381391
      ],
      "shoe_position": [
        0.31999997734352414,
        -0.1450000523176208,
        -0.00010773877981681132
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.04577532197642685
    },
    {
      "completed_steps": 9130,
      "tcp_position": [
        0.35585194198070846,
        -0.024150394845493684,
        0.2651817425412455
      ],
      "shoe_position": [
        0.31999997734356433,
        -0.14500005231781274,
        -0.000107738779821053
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.036409012345904934
    },
    {
      "completed_steps": 9140,
      "tcp_position": [
        0.36065941569814464,
        -0.03268911158068117,
        0.2688053943160035
      ],
      "shoe_position": [
        0.3199999773437448,
        -0.14500005231867721,
        -0.00010773877981673448
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.027344954526487695
    },
    {
      "completed_steps": 9150,
      "tcp_position": [
        0.3640935812930617,
        -0.04173599087045651,
        0.2717584076191157
      ],
      "shoe_position": [
        0.31999997734378305,
        -0.1450000523188602,
        -0.00010773877982114817
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.018799559426803503
    },
    {
      "completed_steps": 9160,
      "tcp_position": [
        0.36595662909243304,
        -0.05047505287487012,
        0.2738349955186646
      ],
      "shoe_position": [
        0.3199999773439551,
        -0.1450000523196838,
        -0.00010773877981726688
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011870688207071949
    },
    {
      "completed_steps": 9170,
      "tcp_position": [
        0.366628342778598,
        -0.057720877528058455,
        0.27508795023575877
      ],
      "shoe_position": [
        0.31999997734399144,
        -0.14500005231985813,
        -0.00010773877982157682
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008661210356194977
    },
    {
      "completed_steps": 9180,
      "tcp_position": [
        0.36660805700422233,
        -0.0629858539134364,
        0.2757031507717076
      ],
      "shoe_position": [
        0.31999997734415525,
        -0.14500005232064261,
        -0.00010773877981793671
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009225381818020555
    },
    {
      "completed_steps": 9190,
      "tcp_position": [
        0.36633313288766217,
        -0.06630095324199807,
        0.275906278667385
      ],
      "shoe_position": [
        0.31999997734419,
        -0.1450000523208087,
        -0.00010773877982206511
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010709561691658587
    },
    {
      "completed_steps": 9200,
      "tcp_position": [
        0.36608106032081594,
        -0.06798154657070236,
        0.2758894975353823
      ],
      "shoe_position": [
        0.3199999773443462,
        -0.14500005232155613,
        -0.00010773877981862041
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011634885538971438
    },
    {
      "completed_steps": 9210,
      "tcp_position": [
        0.3659100884971039,
        -0.0684349564771237,
        0.27575353505259786
      ],
      "shoe_position": [
        0.31999997734437935,
        -0.1450000523217144,
        -0.00010773877982255576
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011797491361134496
    },
    {
      "completed_steps": 9220,
      "tcp_position": [
        0.3658281292455062,
        -0.06811026343660481,
        0.27556741736777834
      ],
      "shoe_position": [
        0.31999997734457614,
        -0.14500005232265725,
        -0.00010773877981699642
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011434141841891466
    },
    {
      "completed_steps": 9230,
      "tcp_position": [
        0.36581966759037343,
        -0.06748120815041853,
        0.27538870262269144
      ],
      "shoe_position": [
        0.31999997734460767,
        -0.1450000523228081,
        -0.0001077387798216378
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010902986848021651
    },
    {
      "completed_steps": 9240,
      "tcp_position": [
        0.3658926473548901,
        -0.06681518699806961,
        0.2752576961879758
      ],
      "shoe_position": [
        0.31999997734479524,
        -0.14500005232370705,
        -0.00010773877981695881
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010431367881193978
    },
    {
      "completed_steps": 9250,
      "tcp_position": [
        0.36606187976015464,
        -0.06619159754434058,
        0.27519282644036114
      ],
      "shoe_position": [
        0.31999997734482527,
        -0.1450000523238509,
        -0.00010773877982173242
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010101866798635313
    },
    {
      "completed_steps": 9260,
      "tcp_position": [
        0.36629451569239657,
        -0.06568677395355291,
        0.27517979927548086
      ],
      "shoe_position": [
        0.319999977345004,
        -0.14500005232470725,
        -0.00010773877981749594
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009939348385830257
    },
    {
      "completed_steps": 9270,
      "tcp_position": [
        0.36649651712720704,
        -0.06529831119719774,
        0.27516526960232945
      ],
      "shoe_position": [
        0.3199999773450327,
        -0.1450000523248443,
        -0.00010773877982214051
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0098466667655199
    },
    {
      "completed_steps": 9280,
      "tcp_position": [
        0.3666039778412185,
        -0.06498064298102506,
        0.27511717452481854
      ],
      "shoe_position": [
        0.31999997734520313,
        -0.14500005232566007,
        -0.0001077387798181692
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009726500035942586
    },
    {
      "completed_steps": 9290,
      "tcp_position": [
        0.36660389982639174,
        -0.06470579280560626,
        0.27502917878029
      ],
      "shoe_position": [
        0.3199999773452304,
        -0.14500005232579063,
        -0.00010773877982261193
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009541939952149752
    },
    {
      "completed_steps": 9300,
      "tcp_position": [
        0.36651032767094976,
        -0.06446152093599478,
        0.2749075773517499
      ],
      "shoe_position": [
        0.31999997734539287,
        -0.14500005232656785,
        -0.00010773877981883706
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009293753327308764
    },
    {
      "completed_steps": 9310,
      "tcp_position": [
        0.3663495705755164,
        -0.064234800673881,
        0.27476331232740203
      ],
      "shoe_position": [
        0.31999997734541885,
        -0.1450000523266922,
        -0.00010773877982307011
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008996650908496292
    },
    {
      "completed_steps": 9320,
      "tcp_position": [
        0.3661484766848023,
        -0.06401716647614321,
        0.2746076412934137
      ],
      "shoe_position": [
        0.31999997734562136,
        -0.1450000523276625,
        -0.00010773877981731076
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008670164377298605
    },
    {
      "completed_steps": 9330,
      "tcp_position": [
        0.36592882324711307,
        -0.06380851909940428,
        0.2744500374605289
      ],
      "shoe_position": [
        0.31999997734564617,
        -0.14500005232778113,
        -0.00010773877982221505
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00833418239698087
    },
    {
      "completed_steps": 9340,
      "tcp_position": [
        0.36570765746703626,
        -0.06361127990967264,
        0.2742964662709001
      ],
      "shoe_position": [
        0.3199999773458393,
        -0.14500005232870616,
        -0.00010773877981730069
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00800489342614892
    },
    {
      "completed_steps": 9350,
      "tcp_position": [
        0.36550060627616643,
        -0.0634281833237283,
        0.27414640474903285
      ],
      "shoe_position": [
        0.31999997734586294,
        -0.14500005232881927,
        -0.00010773877982230496
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007694269468201152
    },
    {
      "completed_steps": 9360,
      "tcp_position": [
        0.3653155682594601,
        -0.06326069812002327,
        0.2739995094823332
      ],
      "shoe_position": [
        0.3199999773460469,
        -0.1450000523297005,
        -0.00010773877981783246
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007408339506945953
    },
    {
      "completed_steps": 9370,
      "tcp_position": [
        0.36515366233850505,
        -0.06310848553952421,
        0.2738572682294867
      ],
      "shoe_position": [
        0.3199999773460694,
        -0.1450000523298082,
        -0.00010773877982268816
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007148526844250069
    },
    {
      "completed_steps": 9380,
      "tcp_position": [
        0.36501385451761825,
        -0.06297047626785877,
        0.27372481024737905
      ],
      "shoe_position": [
        0.3199999773462448,
        -0.1450000523306477,
        -0.00010773877981848931
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006916406419574628
    },
    {
      "completed_steps": 9390,
      "tcp_position": [
        0.364895874712846,
        -0.06284584247472572,
        0.2736063071307528
      ],
      "shoe_position": [
        0.31999997734626634,
        -0.1450000523307503,
        -0.00010773877982313245
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006713706853606021
    },
    {
      "completed_steps": 9400,
      "tcp_position": [
        0.36479862251043693,
        -0.06273364252377774,
        0.27350240130708076
      ],
      "shoe_position": [
        0.3199999773464334,
        -0.14500005233155008,
        -0.00010773877981914198
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0065396020032811595
    },
    {
      "completed_steps": 9410,
      "tcp_position": [
        0.3647145707971443,
        -0.06263111230009617,
        0.2734088371232458
      ],
      "shoe_position": [
        0.3199999773464538,
        -0.1450000523316478,
        -0.00010773877982356673
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006385146847945015
    },
    {
      "completed_steps": 9420,
      "tcp_position": [
        0.36463403816649614,
        -0.06253483489342558,
        0.27331964049807345
      ],
      "shoe_position": [
        0.3199999773466608,
        -0.1450000523326387,
        -0.00010773877981770599
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0062385663979731875
    },
    {
      "completed_steps": 9430,
      "tcp_position": [
        0.3645546990543927,
        -0.06244364354852186,
        0.27323321500525893
      ],
      "shoe_position": [
        0.31999997734668034,
        -0.14500005233273194,
        -0.00010773877982276736
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00609674966999218
    },
    {
      "completed_steps": 9440,
      "tcp_position": [
        0.3644761620433778,
        -0.062357047728003795,
        0.2731491916403533
      ],
      "shoe_position": [
        0.31999997734687746,
        -0.1450000523336766,
        -0.00010773877981773174
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005958951973152237
    },
    {
      "completed_steps": 9450,
      "tcp_position": [
        0.36439841592519706,
        -0.06227472252029543,
        0.2730674790359838
      ],
      "shoe_position": [
        0.319999977346896,
        -0.14500005233376548,
        -0.00010773877982286204
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005824933719070653
    },
    {
      "completed_steps": 9460,
      "tcp_position": [
        0.36432147682397875,
        -0.06219637054303612,
        0.27298800361197195
      ],
      "shoe_position": [
        0.3199999773470839,
        -0.14500005233466542,
        -0.00010773877981826109
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005694503585709618
    },
    {
      "completed_steps": 9470,
      "tcp_position": [
        0.364245352975863,
        -0.062121743159734254,
        0.2729106839726245
      ],
      "shoe_position": [
        0.3199999773471016,
        -0.14500005233475008,
        -0.0001077387798232283
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00556748570847213
    },
    {
      "completed_steps": 9480,
      "tcp_position": [
        0.3641700635415915,
        -0.06205062274711266,
        0.2728354542118178
      ],
      "shoe_position": [
        0.31999997734728064,
        -0.14500005233560737,
        -0.00010773877981889224
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005443738070407301
    },
    {
      "completed_steps": 9490,
      "tcp_position": [
        0.36409563108298343,
        -0.06198280504012943,
        0.2727622572514607
      ],
      "shoe_position": [
        0.31999997734729757,
        -0.14500005233568797,
        -0.00010773877982364146
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00532313581625623
    },
    {
      "completed_steps": 9500,
      "tcp_position": [
        0.3640220772529723,
        -0.06191809682060009,
        0.2726910399338422
      ],
      "shoe_position": [
        0.31999997734746827,
        -0.14500005233650473,
        -0.00010773877981953237
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005205564020123742
    },
    {
      "completed_steps": 9510,
      "tcp_position": [
        0.3639494214558697,
        -0.061856316336572584,
        0.27262175100895225
      ],
      "shoe_position": [
        0.3199999773475317,
        -0.14500005233680865,
        -0.00010773877982141573
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005090915293977358
    },
    {
      "completed_steps": 9520,
      "tcp_position": [
        0.36387768060398495,
        -0.061797293306514546,
        0.27255434042999394
      ],
      "shoe_position": [
        0.31999997734769436,
        -0.14500005233758767,
        -0.00010773877981818303
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004979088784955007
    },
    {
      "completed_steps": 9530,
      "tcp_position": [
        0.3638068691929925,
        -0.061740868461944175,
        0.27248875913184367
      ],
      "shoe_position": [
        0.3199999773477549,
        -0.14500005233787736,
        -0.00010773877982078732
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004869989534966419
    },
    {
      "completed_steps": 9540,
      "tcp_position": [
        0.36373699945337246,
        -0.06168689290482549,
        0.2724249589734631
      ],
      "shoe_position": [
        0.31999997734790986,
        -0.14500005233862,
        -0.0001077387798182094
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004763527958334638
    },
    {
      "completed_steps": 9550,
      "tcp_position": [
        0.36366808151175156,
        -0.06163522743129075,
        0.27236289273224784
      ],
      "shoe_position": [
        0.31999997734796753,
        -0.1450000523388961,
        -0.0001077387798209965
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0046596193828476
    },
    {
      "completed_steps": 9560,
      "tcp_position": [
        0.36360012354607374,
        -0.061585741878345146,
        0.27230251411277273
      ],
      "shoe_position": [
        0.3199999773481152,
        -0.1450000523396036,
        -0.00010773877981873028
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004558183639482921
    },
    {
      "completed_steps": 9570,
      "tcp_position": [
        0.3635331319314411,
        -0.06153831450965153,
        0.27224377775779374
      ],
      "shoe_position": [
        0.31999997734817015,
        -0.14500005233986657,
        -0.00010773877982146472
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004459144693990437
    },
    {
      "completed_steps": 9580,
      "tcp_position": [
        0.36346711137649246,
        -0.06149283144259384,
        0.27218663925775854
      ],
      "shoe_position": [
        0.3199999773483109,
        -0.14500005234054056,
        -0.00010773877981935455
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0043624303153828245
    },
    {
      "completed_steps": 9590,
      "tcp_position": [
        0.3634020650508098,
        -0.06144918611484223,
        0.2721310551578193
      ],
      "shoe_position": [
        0.31999997734836333,
        -0.14500005234079108,
        -0.00010773877982197191
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0042679717772100305
    },
    {
      "completed_steps": 9600,
      "tcp_position": [
        0.36333799470391803,
        -0.06140727878779756,
        0.2720769829621842
      ],
      "shoe_position": [
        0.31999997734849744,
        -0.14500005234143323,
        -0.00010773877981996696
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00417570358804037
    },
    {
      "completed_steps": 9610,
      "tcp_position": [
        0.363274900776419,
        -0.06136701608430022,
        0.2720243811359223
      ],
      "shoe_position": [
        0.3199999773485946,
        -0.14500005234189822,
        -0.00010773877981983997
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004085563248023874
    },
    {
      "completed_steps": 9620,
      "tcp_position": [
        0.36321278250376493,
        -0.06132831055817928,
        0.27197320910440825
      ],
      "shoe_position": [
        0.3199999773487225,
        -0.14500005234251062,
        -0.00010773877981869396
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003997491028781459
    },
    {
      "completed_steps": 9630,
      "tcp_position": [
        0.36315163801314826,
        -0.06129108029341076,
        0.27192342725060337
      ],
      "shoe_position": [
        0.319999977348815,
        -0.14500005234295393,
        -0.00010773877981935514
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003911429774177004
    },
    {
      "completed_steps": 9640,
      "tcp_position": [
        0.36309146441393847,
        -0.06125524853082623,
        0.27187499691037675
      ],
      "shoe_position": [
        0.319999977348937,
        -0.14500005234353783,
        -0.00010773877981874574
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003827324719789493
    },
    {
      "completed_steps": 9650,
      "tcp_position": [
        0.36303225788208776,
        -0.06122074332046708,
        0.2718278803660509
      ],
      "shoe_position": [
        0.3199999773490253,
        -0.1450000523439602,
        -0.00010773877981966306
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003745123329149876
    },
    {
      "completed_steps": 9660,
      "tcp_position": [
        0.36297401373888366,
        -0.06118749719781743,
        0.27178204083835156
      ],
      "shoe_position": [
        0.31999997734914143,
        -0.14500005234451638,
        -0.00010773877981924508
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0036647751450049103
    },
    {
      "completed_steps": 9670,
      "tcp_position": [
        0.36291672652441676,
        -0.06115544688226562,
        0.27173744247693443
      ],
      "shoe_position": [
        0.3199999773492256,
        -0.14500005234491872,
        -0.00010773877982019451
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0035862316540666546
    },
    {
      "completed_steps": 9680,
      "tcp_position": [
        0.3628603900660942,
        -0.061124532996268154,
        0.2716940503496378
      ],
      "shoe_position": [
        0.3199999773493363,
        -0.1450000523454486,
        -0.00010773877981983444
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003509446163857516
    },
    {
      "completed_steps": 9690,
      "tcp_position": [
        0.3628049975425243,
        -0.06109469980378714,
        0.2716518304306171
      ],
      "shoe_position": [
        0.3199999773494163,
        -0.1450000523458319,
        -0.00010773877982076003
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0034343736904262068
    },
    {
      "completed_steps": 9700,
      "tcp_position": [
        0.362750541543062,
        -0.061065894966678406,
        0.2716107495874881
      ],
      "shoe_position": [
        0.3199999773495219,
        -0.1450000523463367,
        -0.0001077387798204306
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0033609708558232794
    },
    {
      "completed_steps": 9710,
      "tcp_position": [
        0.3626970141232963,
        -0.061038069317789885,
        0.2715707755676148
      ],
      "shoe_position": [
        0.3199999773496453,
        -0.14500005234692742,
        -0.00010773877981873422
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0032891957943564283
    },
    {
      "completed_steps": 9720,
      "tcp_position": [
        0.3626444068567411,
        -0.06101117664962126,
        0.2715318769836529
      ],
      "shoe_position": [
        0.3199999773497459,
        -0.14500005234740884,
        -0.00010773877981923774
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003219008066744178
    },
    {
      "completed_steps": 9730,
      "tcp_position": [
        0.36259271088297,
        -0.06098517351747701,
        0.2714940232984605
      ],
      "shoe_position": [
        0.31999997734986346,
        -0.14500005234797192,
        -0.00010773877981837438
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0031503685813809175
    },
    {
      "completed_steps": 9740,
      "tcp_position": [
        0.3625419169524277,
        -0.060960019056106284,
        0.2714571848094729
      ],
      "shoe_position": [
        0.31999997734995933,
        -0.1450000523484309,
        -0.00010773877981931125
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0030832395220101155
    },
    {
      "completed_steps": 9750,
      "tcp_position": [
        0.3624920154681267,
        -0.06093567480891094,
        0.2714213326326359
      ],
      "shoe_position": [
        0.31999997735007146,
        -0.14500005234896737,
        -0.00010773877981875376
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003017584281177414
    },
    {
      "completed_steps": 9760,
      "tcp_position": [
        0.36244299652443646,
        -0.060912104568845375,
        0.27138643868598206
      ],
      "shoe_position": [
        0.31999997735016283,
        -0.14500005234940466,
        -0.0001077387798197881
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002953367398903307
    },
    {
      "completed_steps": 9770,
      "tcp_position": [
        0.36239484994314475,
        -0.06088927423021296,
        0.2713524756729218
      ],
      "shoe_position": [
        0.3199999773502696,
        -0.14500005234991573,
        -0.00010773877981933682
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002890554506067405
    },
    {
      "completed_steps": 9780,
      "tcp_position": [
        0.3623475653069755,
        -0.060867151650598694,
        0.2713194170653259
      ],
      "shoe_position": [
        0.3199999773503566,
        -0.1450000523503323,
        -0.00010773877982036105
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002829112272060657
    },
    {
      "completed_steps": 9790,
      "tcp_position": [
        0.36230113199072017,
        -0.06084570652224667,
        0.27128723708646085
      ],
      "shoe_position": [
        0.3199999773505075,
        -0.14500005235105487,
        -0.00010773877981730493
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002769008356297716
    },
    {
      "completed_steps": 9800,
      "tcp_position": [
        0.36225553919014136,
        -0.06082491025222759,
        0.27125591069382976
      ],
      "shoe_position": [
        0.3199999773505904,
        -0.14500005235145208,
        -0.00010773877981918129
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0027102113632279136
    },
    {
      "completed_steps": 9810,
      "tcp_position": [
        0.3622107759487927,
        -0.06080473585079144,
        0.2712254135619825
      ],
      "shoe_position": [
        0.31999997735073415,
        -0.14500005235214092,
        -0.00010773877981702278
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0026526908005268723
    },
    {
      "completed_steps": 9820,
      "tcp_position": [
        0.3621668311828882,
        -0.06078515782734136,
        0.2711957220653295
      ],
      "shoe_position": [
        0.3199999773508132,
        -0.1450000523525196,
        -0.00010773877981926178
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0025964170401705585
    },
    {
      "completed_steps": 9830,
      "tcp_position": [
        0.36212369370435066,
        -0.06076615209350251,
        0.27116681326101294
      ],
      "shoe_position": [
        0.3199999773509502,
        -0.14500005235317578,
        -0.00010773877981747999
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002541361282138485
    },
    {
      "completed_steps": 9840,
      "tcp_position": [
        0.36208135224215426,
        -0.06074769587279864,
        0.2711386648718644
      ],
      "shoe_position": [
        0.3199999773510256,
        -0.14500005235353644,
        -0.00010773877981975275
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002487495520506252
    },
    {
      "completed_steps": 9850,
      "tcp_position": [
        0.36203979546207576,
        -0.06072976761647661,
        0.27111125526949
      ],
      "shoe_position": [
        0.31999997735115626,
        -0.14500005235416155,
        -0.00010773877981813353
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002434792511720886
    },
    {
      "completed_steps": 9860,
      "tcp_position": [
        0.36199901198495676,
        -0.06071234692506048,
        0.2710845634575078
      ],
      "shoe_position": [
        0.31999997735122804,
        -0.14500005235450517,
        -0.00010773877982033212
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002383225744868752
    },
    {
      "completed_steps": 9870,
      "tcp_position": [
        0.3619589904035753,
        -0.060695414475235625,
        0.2710585690549703
      ],
      "shoe_position": [
        0.31999997735135255,
        -0.14500005235510074,
        -0.00010773877981880043
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002332769413767276
    },
    {
      "completed_steps": 9880,
      "tcp_position": [
        0.3619197192982153,
        -0.060678951951697015,
        0.27103325227998626
      ],
      "shoe_position": [
        0.31999997735142094,
        -0.14500005235542815,
        -0.00010773877982089795
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002283398390721668
    },
    {
      "completed_steps": 9890,
      "tcp_position": [
        0.361881187251024,
        -0.06066294198361907,
        0.27100859393357507
      ],
      "shoe_position": [
        0.3199999773515884,
        -0.1450000523562303,
        -0.00010773877981688776
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0022350882018176313
    },
    {
      "completed_steps": 9900,
      "tcp_position": [
        0.36184338285923334,
        -0.0606473680854286,
        0.27098457538375903
      ],
      "shoe_position": [
        0.3199999773516536,
        -0.14500005235654248,
        -0.00010773877981979937
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021878150036168604
    },
    {
      "completed_steps": 9910,
      "tcp_position": [
        0.36180629474732257,
        -0.060632214601583787,
        0.270961178549917
      ],
      "shoe_position": [
        0.3199999773518132,
        -0.14500005235730726,
        -0.00010773877981668854
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021415555611474218
    },
    {
      "completed_steps": 9920,
      "tcp_position": [
        0.3617699115781904,
        -0.060617466655083385,
        0.2709383858874115
      ],
      "shoe_position": [
        0.3199999773518753,
        -0.14500005235760485,
        -0.00010773877981988502
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002096287227086329
    },
    {
      "completed_steps": 9930,
      "tcp_position": [
        0.3617342220634031,
        -0.06060311009944701,
        0.2709161803724954
      ],
      "shoe_position": [
        0.31999997735202745,
        -0.14500005235833335,
        -0.0001077387798171735
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020519879220392352
    },
    {
      "completed_steps": 9940,
      "tcp_position": [
        0.3616992149725833,
        -0.060589131473931086,
        0.2708945454875136
      ],
      "shoe_position": [
        0.3199999773520867,
        -0.1450000523586169,
        -0.00010773877982034545
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020086361158404053
    },
    {
      "completed_steps": 9950,
      "tcp_position": [
        0.36166487914198947,
        -0.06057551796175224,
        0.2708734652064052
      ],
      "shoe_position": [
        0.31999997735223173,
        -0.14500005235931096,
        -0.00010773877981783997
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0019662108097891124
    },
    {
      "completed_steps": 9960,
      "tcp_position": [
        0.3616312034823477,
        -0.06056225735111591,
        0.270852923980508
      ],
      "shoe_position": [
        0.3199999773522882,
        -0.14500005235958108,
        -0.00010773877982089296
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0019246915197591126
    },
    {
      "completed_steps": 9970,
      "tcp_position": [
        0.36159817698598246,
        -0.060549337998853245,
        0.2708329067246769
      ],
      "shoe_position": [
        0.31999997735242636,
        -0.1450000523602423,
        -0.00010773877981852812
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001884058260118326
    },
    {
      "completed_steps": 9980,
      "tcp_position": [
        0.3615657887332943,
        -0.06053674879648672,
        0.27081339880371236
      ],
      "shoe_position": [
        0.3199999773524802,
        -0.14500005236049965,
        -0.00010773877982144092
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018442915283983872
    },
    {
      "completed_steps": 9990,
      "tcp_position": [
        0.361534027898627,
        -0.06052447913856062,
        0.2707943860191063
      ],
      "shoe_position": [
        0.31999997735266056,
        -0.14500005236136346,
        -0.00010773877981671361
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018053722906655094
    },
    {
      "completed_steps": 10000,
      "tcp_position": [
        0.3615028837555696,
        -0.06051251889307524,
        0.270775854596104
      ],
      "shoe_position": [
        0.31999997735271185,
        -0.14500005236160887,
        -0.00010773877982040297
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001767281967545008
    },
    {
      "completed_steps": 10010,
      "tcp_position": [
        0.36147234059941885,
        -0.060500713829831944,
        0.2707577778804426
      ],
      "shoe_position": [
        0.31999997735288377,
        -0.14500005236243235,
        -0.00010773877981657659
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017299504317089855
    },
    {
      "completed_steps": 10020,
      "tcp_position": [
        0.3614423802235471,
        -0.06048897740056838,
        0.270740131419027
      ],
      "shoe_position": [
        0.31999997735293256,
        -0.1450000523626663,
        -0.00010773877982049131
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00169332634922428
    },
    {
      "completed_steps": 10030,
      "tcp_position": [
        0.36141299713667185,
        -0.06047749590843022,
        0.2707229185033847
      ],
      "shoe_position": [
        0.3199999773530964,
        -0.14500005236345082,
        -0.00010773877981708591
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016574602297932974
    },
    {
      "completed_steps": 10040,
      "tcp_position": [
        0.36138418657760424,
        -0.06046634551330726,
        0.2707061371497716
      ],
      "shoe_position": [
        0.3199999773531429,
        -0.1450000523636737,
        -0.00010773877982093198
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016223687292625918
    },
    {
      "completed_steps": 10050,
      "tcp_position": [
        0.36135594116714453,
        -0.06045553093948988,
        0.27068977920104337
      ],
      "shoe_position": [
        0.319999977353299,
        -0.14500005236442096,
        -0.00010773877981777131
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001588042893558564
    },
    {
      "completed_steps": 10060,
      "tcp_position": [
        0.3613282518771636,
        -0.06044503749838437,
        0.27067383387293653
      ],
      "shoe_position": [
        0.3199999773533434,
        -0.1450000523646333,
        -0.00010773877982146236
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015544656678336533
    },
    {
      "completed_steps": 10070,
      "tcp_position": [
        0.36130110906483687,
        -0.06043484812795631,
        0.2706582896711819
      ],
      "shoe_position": [
        0.3199999773534923,
        -0.14500005236534533,
        -0.00010773877981846018
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001521618540953199
    },
    {
      "completed_steps": 10080,
      "tcp_position": [
        0.361274502969188,
        -0.06042494677193626,
        0.27064313515648714
      ],
      "shoe_position": [
        0.3199999773535346,
        -0.14500005236554764,
        -0.00010773877982197717
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014894832684383644
    },
    {
      "completed_steps": 10090,
      "tcp_position": [
        0.3612484238863408,
        -0.060415318660766076,
        0.27062835920209194
      ],
      "shoe_position": [
        0.3199999773537249,
        -0.14500005236645894,
        -0.00010773877981673979
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014580422068035182
    },
    {
      "completed_steps": 10100,
      "tcp_position": [
        0.36122286221965566,
        -0.06040595024013436,
        0.27061395106014385
      ],
      "shoe_position": [
        0.3199999773537652,
        -0.14500005236665184,
        -0.00010773877982100092
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014272783575666258
    },
    {
      "completed_steps": 10110,
      "tcp_position": [
        0.36119780849256355,
        -0.060396829126646866,
        0.2705999003638262
      ],
      "shoe_position": [
        0.31999997735394653,
        -0.1450000523675206,
        -0.00010773877981665403
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013971753601933808
    },
    {
      "completed_steps": 10120,
      "tcp_position": [
        0.3611732533528181,
        -0.060387944058952314,
        0.2705861971111095
      ],
      "shoe_position": [
        0.3199999773539849,
        -0.1450000523677045,
        -0.00010773877982108991
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001367717469307305
    },
    {
      "completed_steps": 10130,
      "tcp_position": [
        0.3611491875752174,
        -0.06037928481925457,
        0.2705728316451744
      ],
      "shoe_position": [
        0.31999997735415764,
        -0.14500005236853214,
        -0.00010773877981718406
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013388895215305486
    },
    {
      "completed_steps": 10140,
      "tcp_position": [
        0.36112560206388744,
        -0.06037084213211734,
        0.2705597946357613
      ],
      "shoe_position": [
        0.3199999773541942,
        -0.14500005236870733,
        -0.00010773877982151744
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013106768966484972
    },
    {
      "completed_steps": 10150,
      "tcp_position": [
        0.3611024878541019,
        -0.06036260755560878,
        0.2705470770623003
      ],
      "shoe_position": [
        0.3199999773543589,
        -0.14500005236949576,
        -0.00010773877981786546
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001283065477644015
    },
    {
      "completed_steps": 10160,
      "tcp_position": [
        0.3610798361136023,
        -0.06035457337613509,
        0.27053467019874655
      ],
      "shoe_position": [
        0.3199999773543938,
        -0.14500005236966265,
        -0.0001077387798220155
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012560416126590728
    },
    {
      "completed_steps": 10170,
      "tcp_position": [
        0.3610576381434515,
        -0.06034673251286896,
        0.2705225655998548
      ],
      "shoe_position": [
        0.31999997735455077,
        -0.1450000523704138,
        -0.00010773877981854714
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012295920803728274
    },
    {
      "completed_steps": 10180,
      "tcp_position": [
        0.3610358853784933,
        -0.060339078433815946,
        0.27051075508866745
      ],
      "shoe_position": [
        0.31999997735458413,
        -0.14500005237057279,
        -0.00010773877982250308
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012037040592500206
    },
    {
      "completed_steps": 10190,
      "tcp_position": [
        0.36101456938748705,
        -0.060331605083456766,
        0.2704992307450204
      ],
      "shoe_position": [
        0.3199999773547819,
        -0.14500005237152033,
        -0.00010773877981692267
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011783651005413663
    },
    {
      "completed_steps": 10200,
      "tcp_position": [
        0.36099368187297187,
        -0.06032430682097865,
        0.2704879848949174
      ],
      "shoe_position": [
        0.31999997735481367,
        -0.14500005237167193,
        -0.00010773877982158715
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011535631046777192
    },
    {
      "completed_steps": 10210,
      "tcp_position": [
        0.3609732146709087,
        -0.060317178367785176,
        0.2704770101006615
      ],
      "shoe_position": [
        0.3199999773550022,
        -0.1450000523725753,
        -0.00010773877981687888
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011292863006323543
    },
    {
      "completed_steps": 10220,
      "tcp_position": [
        0.3609531597501314,
        -0.06031021476297857,
        0.27046629915164366
      ],
      "shoe_position": [
        0.3199999773550324,
        -0.14500005237271985,
        -0.00010773877982167733
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001105523227826562
    },
    {
      "completed_steps": 10230,
      "tcp_position": [
        0.36093350921163986,
        -0.06030341132560441,
        0.2704558450557118
      ],
      "shoe_position": [
        0.3199999773552121,
        -0.14500005237358046,
        -0.00010773877981741449
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010822627202017065
    },
    {
      "completed_steps": 10240,
      "tcp_position": [
        0.36091425528775367,
        -0.06029676362261091,
        0.27044564103105617
      ],
      "shoe_position": [
        0.3199999773552408,
        -0.14500005237371816,
        -0.00010773877982208376
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010594938921256306
    },
    {
      "completed_steps": 10250,
      "tcp_position": [
        0.36089539034115053,
        -0.06029026744161345,
        0.2704356804985513
      ],
      "shoe_position": [
        0.319999977355412,
        -0.14500005237453792,
        -0.00010773877981808828
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010372061258517647
    },
    {
      "completed_steps": 10260,
      "tcp_position": [
        0.36087690686380125,
        -0.06028391876770122,
        0.27042595707451433
      ],
      "shoe_position": [
        0.31999997735543956,
        -0.14500005237466915,
        -0.00010773877982255609
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010153890602934144
    },
    {
      "completed_steps": 10270,
      "tcp_position": [
        0.3608587974758213,
        -0.0602777137636417,
        0.27041646456383234
      ],
      "shoe_position": [
        0.31999997735560276,
        -0.14500005237545016,
        -0.00010773877981877035
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009940325809152885
    },
    {
      "completed_steps": 10280,
      "tcp_position": [
        0.36084105492424356,
        -0.06027164875293973,
        0.2704071969534313
      ],
      "shoe_position": [
        0.31999997735562896,
        -0.14500005237557517,
        -0.00010773877982302575
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009731268105708503
    },
    {
      "completed_steps": 10290,
      "tcp_position": [
        0.3608236720817303,
        -0.06026572020529837,
        0.2703981484060505
      ],
      "shoe_position": [
        0.3199999773558326,
        -0.14500005237655023,
        -0.00010773877981724233
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009526621011493181
    },
    {
      "completed_steps": 10300,
      "tcp_position": [
        0.3608066419452284,
        -0.06025992472410335,
        0.2703893132543029
      ],
      "shoe_position": [
        0.31999997735585745,
        -0.14500005237666944,
        -0.00010773877982216949
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009326290259143409
    },
    {
      "completed_steps": 10310,
      "tcp_position": [
        0.36078995763457816,
        -0.06025425903561026,
        0.27038068599499576
      ],
      "shoe_position": [
        0.3199999773560515,
        -0.14500005237759908,
        -0.00010773877981722204
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009130183724349187
    },
    {
      "completed_steps": 10320,
      "tcp_position": [
        0.36077361239107975,
        -0.060248719979569855,
        0.2703722612836934
      ],
      "shoe_position": [
        0.31999997735607527,
        -0.1450000523777127,
        -0.00010773877982225105
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008938211360257824
    },
    {
      "completed_steps": 10330,
      "tcp_position": [
        0.3607575995760304,
        -0.06024330450106892,
        0.27036403392950337
      ],
      "shoe_position": [
        0.3199999773562603,
        -0.14500005237859828,
        -0.0001077387798177618
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008750285136333957
    },
    {
      "completed_steps": 10340,
      "tcp_position": [
        0.3607419126692273,
        -0.06023800964339857,
        0.2703559988900759
      ],
      "shoe_position": [
        0.31999997735628294,
        -0.14500005237870653,
        -0.00010773877982264247
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008566318981020608
    },
    {
      "completed_steps": 10350,
      "tcp_position": [
        0.3607265452674517,
        -0.06023283254179391,
        0.2703481512667978
      ],
      "shoe_position": [
        0.31999997735645913,
        -0.1450000523795502,
        -0.0001077387798184159
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000838622872778676
    },
    {
      "completed_steps": 10360,
      "tcp_position": [
        0.36071149715229683,
        -0.06022791536450172,
        0.27034050003199034
      ],
      "shoe_position": [
        0.31999997735648067,
        -0.14500005237965333,
        -0.00010773877982308361
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008210443854554304
    },
    {
      "completed_steps": 10370,
      "tcp_position": [
        0.3606967704731268,
        -0.06022333280935777,
        0.27033305235235566
      ],
      "shoe_position": [
        0.31999997735664865,
        -0.14500005238045707,
        -0.00010773877981907878
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008039219522855747
    },
    {
      "completed_steps": 10380,
      "tcp_position": [
        0.360682352975511,
        -0.060218886489572,
        0.27032578729308815
      ],
      "shoe_position": [
        0.31999997735666913,
        -0.14500005238055533,
        -0.00010773877982352532
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007871811982279334
    },
    {
      "completed_steps": 10390,
      "tcp_position": [
        0.36066823254792735,
        -0.060214489018783186,
        0.27031868995807695
      ],
      "shoe_position": [
        0.31999997735687696,
        -0.14500005238155111,
        -0.00010773877981763815
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007707811405756798
    },
    {
      "completed_steps": 10400,
      "tcp_position": [
        0.3606544004149239,
        -0.06021012507565163,
        0.27031175233670135
      ],
      "shoe_position": [
        0.31999997735689656,
        -0.14500005238164482,
        -0.00010773877982272308
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007547065455585718
    },
    {
      "completed_steps": 10410,
      "tcp_position": [
        0.36064084984300415,
        -0.060205799185139006,
        0.27030496960313005
      ],
      "shoe_position": [
        0.3199999773570947,
        -0.1450000523825941,
        -0.00010773877981765483
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000738950799928949
    },
    {
      "completed_steps": 10420,
      "tcp_position": [
        0.3606275749800047,
        -0.060201518613467245,
        0.27029833812251003
      ],
      "shoe_position": [
        0.31999997735711333,
        -0.1450000523826834,
        -0.00010773877982281107
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007235093243659476
    },
    {
      "completed_steps": 10430,
      "tcp_position": [
        0.36061457032358596,
        -0.06019728996692237,
        0.2702918546511989
      ],
      "shoe_position": [
        0.3199999773573022,
        -0.1450000523835878,
        -0.00010773877981818277
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007083778307564641
    },
    {
      "completed_steps": 10440,
      "tcp_position": [
        0.3606018305382585,
        -0.06019311889655111,
        0.27028551605961626
      ],
      "shoe_position": [
        0.31999997735731994,
        -0.1450000523836729,
        -0.00010773877982317797
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006935519629302784
    },
    {
      "completed_steps": 10450,
      "tcp_position": [
        0.3605893504038722,
        -0.06018901015524064,
        0.2702793192512209
      ],
      "shoe_position": [
        0.3199999773575,
        -0.14500005238453437,
        -0.00010773877981881743
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006790272317300767
    },
    {
      "completed_steps": 10460,
      "tcp_position": [
        0.3605771248025999,
        -0.060184967627425486,
        0.2702732611474772
      ],
      "shoe_position": [
        0.319999977357517,
        -0.14500005238461544,
        -0.00010773877982359311
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006647990039793552
    },
    {
      "completed_steps": 10470,
      "tcp_position": [
        0.3605651487146522,
        -0.06018099436373368,
        0.2702673386920037
      ],
      "shoe_position": [
        0.31999997735768854,
        -0.14500005238543623,
        -0.00010773877981946045
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000650862508997574
    },
    {
      "completed_steps": 10480,
      "tcp_position": [
        0.3605534172154445,
        -0.060177092645957005,
        0.27026154885856235
      ],
      "shoe_position": [
        0.31999997735775226,
        -0.1450000523857416,
        -0.00010773877982135445
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000637212856914903
    },
    {
      "completed_steps": 10490,
      "tcp_position": [
        0.36054192547303926,
        -0.06017326407550938,
        0.27025588865850714
      ],
      "shoe_position": [
        0.31999997735791574,
        -0.14500005238652444,
        -0.00010773877981810335
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006238450638928983
    },
    {
      "completed_steps": 10500,
      "tcp_position": [
        0.36053066874583006,
        -0.06016950967030042,
        0.27025035514678686
      ],
      "shoe_position": [
        0.31999997735797653,
        -0.1450000523868156,
        -0.00010773877982072545
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006107540795188233
    },
    {
      "completed_steps": 10510,
      "tcp_position": [
        0.3605196423804819,
        -0.060165829958620735,
        0.27024494542653815
      ],
      "shoe_position": [
        0.31999997735813235,
        -0.14500005238756192,
        -0.00010773877981814057
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005979348131284973
    },
    {
      "completed_steps": 10520,
      "tcp_position": [
        0.36050884181009935,
        -0.06016222506409152,
        0.2702396566525214
      ],
      "shoe_position": [
        0.31999997735819025,
        -0.1450000523878393,
        -0.0001077387798209421
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005853821574172324
    },
    {
      "completed_steps": 10530,
      "tcp_position": [
        0.36049826255256123,
        -0.06015869477958309,
        0.27023448603361966
      ],
      "shoe_position": [
        0.3199999773583388,
        -0.1450000523885503,
        -0.00010773877981866635
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005730910087537986
    },
    {
      "completed_steps": 10540,
      "tcp_position": [
        0.360487900208979,
        -0.06015523863013028,
        0.2702294308345915
      ],
      "shoe_position": [
        0.3199999773583941,
        -0.14500005238881455,
        -0.00010773877982141204
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005610562842245058
    },
    {
      "completed_steps": 10550,
      "tcp_position": [
        0.3604777504622402,
        -0.06015185592579352,
        0.27022448837721896
      ],
      "shoe_position": [
        0.31999997735853564,
        -0.14500005238949182,
        -0.0001077387798192851
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005492729356847275
    },
    {
      "completed_steps": 10560,
      "tcp_position": [
        0.3604678090756205,
        -0.06014854580573841,
        0.27021965604097276
      ],
      "shoe_position": [
        0.3199999773585883,
        -0.1450000523897436,
        -0.00010773877982191518
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00053773596120326
    },
    {
      "completed_steps": 10570,
      "tcp_position": [
        0.36045807189144075,
        -0.06014530727481484,
        0.2702149312632795
      ],
      "shoe_position": [
        0.31999997735872315,
        -0.14500005239038888,
        -0.00010773877981989707
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005264404142703567
    },
    {
      "completed_steps": 10580,
      "tcp_position": [
        0.3604485348297671,
        -0.06014213923381028,
        0.27021031153946995
      ],
      "shoe_position": [
        0.3199999773588207,
        -0.14500005239085617,
        -0.00010773877981977474
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005153814111282811
    },
    {
      "completed_steps": 10590,
      "tcp_position": [
        0.3604391938871409,
        -0.060139040504401886,
        0.2702057944224725
      ],
      "shoe_position": [
        0.3199999773589492,
        -0.14500005239147162,
        -0.00010773877981862733
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005045541365275544
    },
    {
      "completed_steps": 10600,
      "tcp_position": [
        0.36043004513533566,
        -0.06013600984968818,
        0.27020137752229556
      ],
      "shoe_position": [
        0.3199999773590423,
        -0.14500005239191716,
        -0.00010773877981929322
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004939538481720475
    },
    {
      "completed_steps": 10610,
      "tcp_position": [
        0.3604210847201358,
        -0.06013304599103955,
        0.2701970585053501
      ],
      "shoe_position": [
        0.3199999773591647,
        -0.1450000523925039,
        -0.00010773877981868237
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004835758800791712
    },
    {
      "completed_steps": 10620,
      "tcp_position": [
        0.36041230886013603,
        -0.06013014762189058,
        0.27019283509363984
      ],
      "shoe_position": [
        0.31999997735925334,
        -0.14500005239292835,
        -0.00010773877981960553
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00047341564504094956
    },
    {
      "completed_steps": 10630,
      "tcp_position": [
        0.3604037138455576,
        -0.06012731341899484,
        0.2701887050638508
      ],
      "shoe_position": [
        0.31999997735937,
        -0.1450000523934873,
        -0.00010773877981918604
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00046346863634336887
    },
    {
      "completed_steps": 10640,
      "tcp_position": [
        0.360395296037078,
        -0.06012454205157425,
        0.270184666246363
      ],
      "shoe_position": [
        0.31999997735945457,
        -0.1450000523938916,
        -0.00010773877982014013
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00045373042887345244
    },
    {
      "completed_steps": 10650,
      "tcp_position": [
        0.36038705186467795,
        -0.060121832188725945,
        0.27018071652420694
      ],
      "shoe_position": [
        0.31999997735956587,
        -0.14500005239442407,
        -0.00010773877981977945
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004441966797285619
    },
    {
      "completed_steps": 10660,
      "tcp_position": [
        0.36037897782649997,
        -0.06011918250538596,
        0.2701768538319751
      ],
      "shoe_position": [
        0.3199999773596464,
        -0.14500005239480926,
        -0.00010773877982070881
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004348631284128315
    },
    {
      "completed_steps": 10670,
      "tcp_position": [
        0.36037107048771777,
        -0.06011659168709928,
        0.2701730761547068
      ],
      "shoe_position": [
        0.31999997735975244,
        -0.14500005239531655,
        -0.00010773877982037775
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004257255966979922
    },
    {
      "completed_steps": 10680,
      "tcp_position": [
        0.36036332647942304,
        -0.06011405843380677,
        0.27016938152675807
      ],
      "shoe_position": [
        0.3199999773598764,
        -0.14500005239591016,
        -0.00010773877981867196
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004167799882183566
    },
    {
      "completed_steps": 10690,
      "tcp_position": [
        0.36035574249751756,
        -0.06011158146281767,
        0.2701657680306567
      ],
      "shoe_position": [
        0.31999997735997743,
        -0.145000052396394,
        -0.00010773877981917606
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004080222878377815
    },
    {
      "completed_steps": 10700,
      "tcp_position": [
        0.3603483153016221,
        -0.0601091595111136,
        0.270162233795963
      ],
      "shoe_position": [
        0.3199999773600955,
        -0.1450000523969599,
        -0.00010773877981830252
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003994485608475933
    },
    {
      "completed_steps": 10710,
      "tcp_position": [
        0.3603410417139943,
        -0.06010679133710369,
        0.27015877699813007
      ],
      "shoe_position": [
        0.3199999773601918,
        -0.14500005239742111,
        -0.00010773877981924048
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003910549520204942
    },
    {
      "completed_steps": 10720,
      "tcp_position": [
        0.36033391861845876,
        -0.06010447572192627,
        0.2701553958573747
      ],
      "shoe_position": [
        0.31999997736030444,
        -0.14500005239796027,
        -0.00010773877981869136
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003828376845539659
    },
    {
      "completed_steps": 10730,
      "tcp_position": [
        0.3603269429593499,
        -0.06010221147038281,
        0.27015208863756224
      ],
      "shoe_position": [
        0.31999997736039615,
        -0.1450000523983996,
        -0.00010773877981973644
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000374793058929643
    },
    {
      "completed_steps": 10740,
      "tcp_position": [
        0.36032011174046435,
        -0.06009999741156879,
        0.27014885364510643
      ],
      "shoe_position": [
        0.3199999773605035,
        -0.14500005239891323,
        -0.00010773877981928164
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00036691745170412964
    },
    {
      "completed_steps": 10750,
      "tcp_position": [
        0.36031342202402683,
        -0.060097832399261315,
        0.2701456892278869
      ],
      "shoe_position": [
        0.31999997736059094,
        -0.14500005239933184,
        -0.00010773877982030934
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00035920731425262577
    },
    {
      "completed_steps": 10760,
      "tcp_position": [
        0.3603068709296678,
        -0.06009571531210583,
        0.27014259377418737
      ],
      "shoe_position": [
        0.3199999773606932,
        -0.14500005239982114,
        -0.0001077387798198896
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000351659171476716
    },
    {
      "completed_steps": 10770,
      "tcp_position": [
        0.36030045563341334,
        -0.060093645053643605,
        0.27013956571165576
      ],
      "shoe_position": [
        0.3199999773607766,
        -0.14500005240021993,
        -0.0001077387798208742
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00034426962048909854
    },
    {
      "completed_steps": 10780,
      "tcp_position": [
        0.36029417336668673,
        -0.06009162055221013,
        0.27013660350628504
      ],
      "shoe_position": [
        0.31999997736092106,
        -0.14500005240091182,
        -0.00010773877981794896
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00033703532928235763
    },
    {
      "completed_steps": 10790,
      "tcp_position": [
        0.36028802141532146,
        -0.06008964076073153,
        0.27013370566141864
      ],
      "shoe_position": [
        0.3199999773610005,
        -0.14500005240129218,
        -0.00010773877981974389
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00032995303539095375
    },
    {
      "completed_steps": 10800,
      "tcp_position": [
        0.3602819971185899,
        -0.06008770465644021,
        0.2701308707167781
      ],
      "shoe_position": [
        0.31999997736113817,
        -0.1450000524019518,
        -0.00010773877981767391
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003230195445546741
    },
    {
      "completed_steps": 10810,
      "tcp_position": [
        0.3602760978682408,
        -0.06008581124052733,
        0.27012809724751563
      ],
      "shoe_position": [
        0.31999997736121394,
        -0.14500005240231437,
        -0.00010773877981981626
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003162317293837278
    },
    {
      "completed_steps": 10820,
      "tcp_position": [
        0.36027032110755225,
        -0.06008395953774712,
        0.2701253838632877
      ],
      "shoe_position": [
        0.3199999773613452,
        -0.14500005240294273,
        -0.00010773877981811605
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003095865280336663
    },
    {
      "completed_steps": 10830,
      "tcp_position": [
        0.360264664330395,
        -0.060082148595983965,
        0.2701227292073568
      ],
      "shoe_position": [
        0.3199999773614174,
        -0.14500005240328817,
        -0.00010773877982029302
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00030308094289150506
    },
    {
      "completed_steps": 10840,
      "tcp_position": [
        0.36025912508031077,
        -0.06008037748579479,
        0.27012013195571094
      ],
      "shoe_position": [
        0.3199999773615424,
        -0.14500005240388683,
        -0.00010773877981873742
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00029671203927662565
    },
    {
      "completed_steps": 10850,
      "tcp_position": [
        0.3602537009496019,
        -0.060078645299930455,
        0.2701175908162117
      ],
      "shoe_position": [
        0.3199999773616111,
        -0.1450000524042159,
        -0.00010773877982083976
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00029047694415803633
    },
    {
      "completed_steps": 10860,
      "tcp_position": [
        0.36024838957843586,
        -0.06007695115284673,
        0.2701151045277613
      ],
      "shoe_position": [
        0.3199999773617794,
        -0.1450000524050222,
        -0.0001077387798167991
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002843728448905285
    },
    {
      "completed_steps": 10870,
      "tcp_position": [
        0.3602431886539585,
        -0.06007529418020758,
        0.27011267185949434
      ],
      "shoe_position": [
        0.3199999773618449,
        -0.145000052405336,
        -0.00010773877981972475
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00027839698796716157
    },
    {
      "completed_steps": 10880,
      "tcp_position": [
        0.3602380959094255,
        -0.060073673538385323,
        0.27011029160999006
      ],
      "shoe_position": [
        0.31999997736200525,
        -0.1450000524061046,
        -0.00010773877981659664
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00027254667779589485
    },
    {
      "completed_steps": 10890,
      "tcp_position": [
        0.36023310912334344,
        -0.06007208840396269,
        0.27010796260650827
      ],
      "shoe_position": [
        0.31999997736206764,
        -0.1450000524064037,
        -0.00010773877981981188
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00026681927549541506
    },
    {
      "completed_steps": 10900,
      "tcp_position": [
        0.3602282261186235,
        -0.06007053797323706,
        0.27010568370424365
      ],
      "shoe_position": [
        0.31999997736222047,
        -0.14500005240713587,
        -0.00010773877981709527
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00026121219771096986
    },
    {
      "completed_steps": 10910,
      "tcp_position": [
        0.3602234447617513,
        -0.0600690214617308,
        0.27010345378560185
      ],
      "shoe_position": [
        0.31999997736228003,
        -0.1450000524074208,
        -0.00010773877982028572
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002557229154551822
    },
    {
      "completed_steps": 10920,
      "tcp_position": [
        0.36021876296196514,
        -0.060067538103707935,
        0.27010127175949705
      ],
      "shoe_position": [
        0.3199999773624258,
        -0.14500005240811822,
        -0.00010773877981777191
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00025034895296736974
    },
    {
      "completed_steps": 10930,
      "tcp_position": [
        0.36021417867045136,
        -0.060066087151700434,
        0.27009913656066736
      ],
      "shoe_position": [
        0.3199999773624825,
        -0.14500005240838962,
        -0.00010773877982084014
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00024508788659814154
    },
    {
      "completed_steps": 10940,
      "tcp_position": [
        0.36020968987954816,
        -0.06006466787604221,
        0.2700970471490084
      ],
      "shoe_position": [
        0.3199999773626214,
        -0.14500005240905411,
        -0.00010773877981845623
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00023993734371162705
    },
    {
      "completed_steps": 10950,
      "tcp_position": [
        0.3602052946219667,
        -0.06006327956441486,
        0.27009500250892987
      ],
      "shoe_position": [
        0.31999997736267544,
        -0.1450000524093127,
        -0.00010773877982138283
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00023489500161553273
    },
    {
      "completed_steps": 10960,
      "tcp_position": [
        0.36020099097002084,
        -0.06006192152140178,
        0.2700930016487245
      ],
      "shoe_position": [
        0.3199999773628566,
        -0.1450000524101808,
        -0.00010773877981663804
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00022995858650659315
    },
    {
      "completed_steps": 10970,
      "tcp_position": [
        0.3601967770348715,
        -0.06006059306805554,
        0.27009104359995884
      ],
      "shoe_position": [
        0.31999997736290814,
        -0.14500005241042743,
        -0.00010773877982034648
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00022512587244178986
    },
    {
      "completed_steps": 10980,
      "tcp_position": [
        0.3601926509657834,
        -0.060059293541473144,
        0.27008912741687774
      ],
      "shoe_position": [
        0.3199999773630809,
        -0.14500005241125502,
        -0.00010773877981649465
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002203946803282806
    },
    {
      "completed_steps": 10990,
      "tcp_position": [
        0.36018861094939264,
        -0.06005802229438553,
        0.27008725217582885
      ],
      "shoe_position": [
        0.31999997736312996,
        -0.14500005241149014,
        -0.00010773877982042846
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00021576287693536497
    },
    {
      "completed_steps": 11000,
      "tcp_position": [
        0.36018465520898874,
        -0.06005677869475564,
        0.2700854169747007
      ],
      "shoe_position": [
        0.3199999773632946,
        -0.14500005241227854,
        -0.00010773877981700949
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00021122837392700296
    },
    {
      "completed_steps": 11010,
      "tcp_position": [
        0.3601807820038074,
        -0.060055562125388456,
        0.27008362093237703
      ],
      "shoe_position": [
        0.3199995416812171,
        -0.14029192554628347,
        0.0017857806290325106
      ],
      "contacts": 0,
      "active_contacts": 0,
      "tracking_error_m": 0.0002067891269141081
    },
    {
      "completed_steps": 11020,
      "tcp_position": [
        0.36017698962833455,
        -0.060054371983551486,
        0.27008186318820726
      ],
      "shoe_position": [
        0.32000992064884276,
        -0.13557904652870242,
        -0.00021893893989986633
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00020244313452618247
    },
    {
      "completed_steps": 11030,
      "tcp_position": [
        0.36017327641162467,
        -0.06005320768060598,
        0.27008014290148996
      ],
      "shoe_position": [
        0.32004610407210093,
        -0.13394487789189252,
        -0.0011819050592862185
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00019818843750385635
    },
    {
      "completed_steps": 11040,
      "tcp_position": [
        0.3601696407166293,
        -0.060052068641648824,
        0.27007845925097157
      ],
      "shoe_position": [
        0.32004894456628136,
        -0.13379050981415289,
        -0.000810115833540014
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00019402311780993068
    },
    {
      "completed_steps": 11050,
      "tcp_position": [
        0.36016608093953595,
        -0.060050954305163384,
        0.2700768114343599
      ],
      "shoe_position": [
        0.32004896489464774,
        -0.1337759017738748,
        -0.0004676996042372577
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00018994529775768405
    },
    {
      "completed_steps": 11060,
      "tcp_position": [
        0.36016259550912216,
        -0.060049864122681706,
        0.2700751986678489
      ],
      "shoe_position": [
        0.32004889839596684,
        -0.13377451383151157,
        -0.00027983974822587545
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001859531391608201
    },
    {
      "completed_steps": 11070,
      "tcp_position": [
        0.360159182886117,
        -0.06004879755845524,
        0.2700736201856587
      ],
      "shoe_position": [
        0.3200488781089303,
        -0.1337743821710722,
        -0.00018971279649071003
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00018204484249808065
    },
    {
      "completed_steps": 11080,
      "tcp_position": [
        0.36015584156257663,
        -0.06004775408913552,
        0.27007207523958654
      ],
      "shoe_position": [
        0.32004887322492404,
        -0.1337743700253503,
        -0.00014722762775537846
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00017821864609784057
    },
    {
      "completed_steps": 11090,
      "tcp_position": [
        0.3601525700612689,
        -0.06004673320346327,
        0.2700705630985711
      ],
      "shoe_position": [
        0.3200488719989684,
        -0.13377436906321055,
        -0.00012696130407506388
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00017447282533817273
    },
    {
      "completed_steps": 11100,
      "tcp_position": [
        0.3601493669350726,
        -0.06004573440196796,
        0.27006908304826843
      ],
      "shoe_position": [
        0.32004887163879064,
        -0.13377436905876344,
        -0.00011716140349873263
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00017080569186771883
    },
    {
      "completed_steps": 11110,
      "tcp_position": [
        0.3601462307663806,
        -0.06004475719667256,
        0.27006763439063974
      ],
      "shoe_position": [
        0.32004887151133715,
        -0.13377436909778723,
        -0.00011237670193957536
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00016721559283586383
    },
    {
      "completed_steps": 11120,
      "tcp_position": [
        0.36014316016652104,
        -0.06004380111081068,
        0.2700662164435493
      ],
      "shoe_position": [
        0.32004887145892624,
        -0.13377436912004537,
        -0.00011002688748531261
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001637009101468193
    },
    {
      "completed_steps": 11130,
      "tcp_position": [
        0.3601401537751871,
        -0.060042865678548954,
        0.27006482854037506
      ],
      "shoe_position": [
        0.3200488714352153,
        -0.13377436913119617,
        -0.00010886903123038879
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001602600597273704
    },
    {
      "completed_steps": 11140,
      "tcp_position": [
        0.3601372102598718,
        -0.06004195044471702,
        0.27006347002962755
      ],
      "shoe_position": [
        0.3200488714239058,
        -0.13377436913676607,
        -0.00010829746738579861
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00015689149080482198
    },
    {
      "completed_steps": 11150,
      "tcp_position": [
        0.360134328315322,
        -0.06004105496454777,
        0.2700621402745819
      ],
      "shoe_position": [
        0.32004887141836164,
        -0.13377436913957935,
        -0.00010801504421992342
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001535936852099777
    },
    {
      "completed_steps": 11160,
      "tcp_position": [
        0.3601315066629946,
        -0.060040178803421135,
        0.2700608386529165
      ],
      "shoe_position": [
        0.32004887141560623,
        -0.1337743691410119,
        -0.0001078754183117567
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00015036515668540582
    },
    {
      "completed_steps": 11170,
      "tcp_position": [
        0.3601287440505274,
        -0.06003932153661737,
        0.27005956455636443
      ],
      "shoe_position": [
        0.32004887141422744,
        -0.13377436914174454,
        -0.00010780636903624524
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00014720445021482748
    },
    {
      "completed_steps": 11180,
      "tcp_position": [
        0.36012603925121844,
        -0.06003848274907716,
        0.27005831739037234
      ],
      "shoe_position": [
        0.3200488714135353,
        -0.1337743691421199,
        -0.00010777221622622381
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00014411014136445305
    },
    {
      "completed_steps": 11190,
      "tcp_position": [
        0.3601233910635142,
        -0.060037662035166535,
        0.27005709657376853
      ],
      "shoe_position": [
        0.3200488714131873,
        -0.1337743691423122,
        -0.00010775532190792835
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001410808356374435
    },
    {
      "completed_steps": 11200,
      "tcp_position": [
        0.360120798310509,
        -0.06003685899844982,
        0.27005590153844017
      ],
      "shoe_position": [
        0.32004887141301225,
        -0.1337743691424107,
        -0.00010774696418544063
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001381151678438624
    },
    {
      "completed_steps": 11210,
      "tcp_position": [
        0.3601182598394515,
        -0.060036073251467995,
        0.2700547317290203
      ],
      "shoe_position": [
        0.3200488714129242,
        -0.13377436914246107,
        -0.00010774282932099958
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001352118014824135
    },
    {
      "completed_steps": 11220,
      "tcp_position": [
        0.3601157745212636,
        -0.0600353044155236,
        0.27005358660258083
      ],
      "shoe_position": [
        0.32004887141287974,
        -0.1337743691424868,
        -0.00010774078354926052
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00013236942813744059
    },
    {
      "completed_steps": 11230,
      "tcp_position": [
        0.3601133412500643,
        -0.0600345521204693,
        0.27005246562833507
      ],
      "shoe_position": [
        0.32004887141285737,
        -0.13377436914249996,
        -0.00010773977133154823
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00012958676688479127
    },
    {
      "completed_steps": 11240,
      "tcp_position": [
        0.3601109589427068,
        -0.0600338160045062,
        0.27005136828734866
      ],
      "shoe_position": [
        0.32004887141284605,
        -0.13377436914250668,
        -0.00010773927047802346
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001268625637156442
    },
    {
      "completed_steps": 11250,
      "tcp_position": [
        0.3601086265383221,
        -0.060033095713983395,
        0.270050294072255
      ],
      "shoe_position": [
        0.3200488714128404,
        -0.1337743691425101,
        -0.00010773902264041146
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00012419559096805868
    },
    {
      "completed_steps": 11260,
      "tcp_position": [
        0.36010634299787037,
        -0.06003239090320456,
        0.27004924248698337
      ],
      "shoe_position": [
        0.3200488714128375,
        -0.13377436914251184,
        -0.00010773889999727768
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001215846467724101
    },
    {
      "completed_steps": 11270,
      "tcp_position": [
        0.3601041073037031,
        -0.06003170123423971,
        0.2700482130464882
      ],
      "shoe_position": [
        0.3200488714128361,
        -0.1337743691425127,
        -0.00010773883930425323
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00011902855450827179
    },
    {
      "completed_steps": 11280,
      "tcp_position": [
        0.3601019184591321,
        -0.06003102637674213,
        0.2700472052764912
      ],
      "shoe_position": [
        0.3200488714128354,
        -0.13377436914251314,
        -0.00010773880926743997
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00011652616227359849
    },
    {
      "completed_steps": 11290,
      "tcp_position": [
        0.36009977548800753,
        -0.0600303660077682,
        0.27004621871322393
      ],
      "shoe_position": [
        0.3200488714128349,
        -0.13377436914251342,
        -0.0001077387944016312
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00011407634236333466
    },
    {
      "completed_steps": 11300,
      "tcp_position": [
        0.3600976774343039,
        -0.060029719811605056,
        0.27004525290318293
      ],
      "shoe_position": [
        0.320048871412709,
        -0.13377436914256088,
        -0.00010773878673860944
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00011167799076144228
    },
    {
      "completed_steps": 11310,
      "tcp_position": [
        0.3600956233617127,
        -0.06002908747959943,
        0.27004430740288804
      ],
      "shoe_position": [
        0.32004887141243266,
        -0.1337743691426879,
        -0.00010773878286162467
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010933002664120995
    },
    {
      "completed_steps": 11320,
      "tcp_position": [
        0.3600936123532461,
        -0.06002846870999297,
        0.27004338177864645
      ],
      "shoe_position": [
        0.32004887141185795,
        -0.13377436914298235,
        -0.00010773878096499058
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010703139187859042
    },
    {
      "completed_steps": 11330,
      "tcp_position": [
        0.3600916435108437,
        -0.060027863207760886,
        0.2700424756063245
      ],
      "shoe_position": [
        0.320048871411262,
        -0.13377436914343271,
        -0.00010773878018252232
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001047810505727221
    },
    {
      "completed_steps": 11340,
      "tcp_position": [
        0.3600897159549913,
        -0.060027270684455326,
        0.27004158847112514
      ],
      "shoe_position": [
        0.3200488714110393,
        -0.13377436914360474,
        -0.00010773877991897298
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00010257798858033702
    },
    {
      "completed_steps": 11350,
      "tcp_position": [
        0.360087828824344,
        -0.06002669085805139,
        0.27004071996736967
      ],
      "shoe_position": [
        0.3200488714105479,
        -0.13377436914421834,
        -0.00010773877978788527
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0001004212130565701
    },
    {
      "completed_steps": 11360,
      "tcp_position": [
        0.3600859812753504,
        -0.06002612345285616,
        0.2700398696982841
      ],
      "shoe_position": [
        0.3200488714102929,
        -0.13377436914470217,
        -0.00010773877976017785
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009830975201512778
    },
    {
      "completed_steps": 11370,
      "tcp_position": [
        0.36008417248189967,
        -0.060025568199124586,
        0.2700390372757887
      ],
      "shoe_position": [
        0.3200488714100196,
        -0.13377436914529042,
        -0.00010773877975227518
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009624265383201356
    },
    {
      "completed_steps": 11380,
      "tcp_position": [
        0.3600824016350142,
        -0.060025024833225755,
        0.27003822232032937
      ],
      "shoe_position": [
        0.320048871409784,
        -0.1337743691461726,
        -0.00010773877974456349
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000942189869524865
    },
    {
      "completed_steps": 11390,
      "tcp_position": [
        0.36008066794239957,
        -0.06002449309748845,
        0.2700374244606317
      ],
      "shoe_position": [
        0.3200488714096973,
        -0.13377436914650925,
        -0.00010773877976609032
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00009223783935639106
    },
    {
      "completed_steps": 11400,
      "tcp_position": [
        0.36007897062818084,
        -0.060023972739895834,
        0.27003664333353344
      ],
      "shoe_position": [
        0.3200488714095761,
        -0.13377436914744112,
        -0.00010773877976195633
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00009029831817832336
    },
    {
      "completed_steps": 11410,
      "tcp_position": [
        0.36007730893252704,
        -0.06002346351369218,
        0.2700358785837964
      ],
      "shoe_position": [
        0.3200488714095511,
        -0.1337743691476368,
        -0.00010773877978463566
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008839954919845584
    },
    {
      "completed_steps": 11420,
      "tcp_position": [
        0.36007568211136803,
        -0.060022965178046915,
        0.27003512986393985
      ],
      "shoe_position": [
        0.3200488714094962,
        -0.13377436914888036,
        -0.0001077387797711215
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008654067670340446
    },
    {
      "completed_steps": 11430,
      "tcp_position": [
        0.36007408943604474,
        -0.06002247749726547,
        0.27003439683403785
      ],
      "shoe_position": [
        0.3200488714094989,
        -0.1337743691495075,
        -0.00010773877977875265
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00008472086288851909
    },
    {
      "completed_steps": 11440,
      "tcp_position": [
        0.36007253019299995,
        -0.06002200024078899,
        0.27003367916155563
      ],
      "shoe_position": [
        0.32004887140951005,
        -0.1337743691502838,
        -0.0001077387797815133
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008293928752090139
    },
    {
      "completed_steps": 11450,
      "tcp_position": [
        0.36007100368346606,
        -0.06002153318314192,
        0.2700329765211825
      ],
      "shoe_position": [
        0.32004887140956495,
        -0.13377436915123533,
        -0.00010773877977972688
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00008119514758453449
    },
    {
      "completed_steps": 11460,
      "tcp_position": [
        0.3600695092231729,
        -0.06002107610401653,
        0.27003228859467665
      ],
      "shoe_position": [
        0.32004887140959615,
        -0.13377436915174806,
        -0.00010773877978975903
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007948765698400314
    },
    {
      "completed_steps": 11470,
      "tcp_position": [
        0.3600680461420431,
        -0.06002062878771717,
        0.27003161507068296
      ],
      "shoe_position": [
        0.3200488714096886,
        -0.13377436915268895,
        -0.00010773877978845769
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00007781604605681112
    },
    {
      "completed_steps": 11480,
      "tcp_position": [
        0.36006661378391264,
        -0.06002019102352291,
        0.27003095564459756
      ],
      "shoe_position": [
        0.32004887140972466,
        -0.13377436915305144,
        -0.00010773877979950991
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007617956136992033
    },
    {
      "completed_steps": 11490,
      "tcp_position": [
        0.36006521150622023,
        -0.06001976260506148,
        0.2700303100184004
      ],
      "shoe_position": [
        0.32004887140985294,
        -0.13377436915402593,
        -0.00010773877979665886
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007457746521409429
    },
    {
      "completed_steps": 11500,
      "tcp_position": [
        0.36006383867976316,
        -0.060019343330817945,
        0.27002967790052246
      ],
      "shoe_position": [
        0.3200488714098894,
        -0.1337743691543014,
        -0.0001077387798067773
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00007300903547135348
    },
    {
      "completed_steps": 11510,
      "tcp_position": [
        0.36006249468840157,
        -0.060018933003571515,
        0.2700290590056825
      ],
      "shoe_position": [
        0.32004887141001404,
        -0.1337743691550917,
        -0.00010773877980596407
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00007147356514058836
    },
    {
      "completed_steps": 11520,
      "tcp_position": [
        0.3600611789287994,
        -0.060018531430367804,
        0.2700284530547533
      ],
      "shoe_position": [
        0.3200488714100495,
        -0.13377436915531551,
        -0.00010773877981368635
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006997036204933928
    },
    {
      "completed_steps": 11530,
      "tcp_position": [
        0.3600598908101537,
        -0.0600181384224898,
        0.2700278597746204
      ],
      "shoe_position": [
        0.32004887141021005,
        -0.13377436915622515,
        -0.0001077387798098015
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006849874855197901
    },
    {
      "completed_steps": 11540,
      "tcp_position": [
        0.3600586297539466,
        -0.060017753795515,
        0.2700272788980573
      ],
      "shoe_position": [
        0.320048871410244,
        -0.13377436915641747,
        -0.00010773877981658154
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00006705806127712184
    },
    {
      "completed_steps": 11550,
      "tcp_position": [
        0.36005739519368907,
        -0.060017377368885766,
        0.27002671016357976
      ],
      "shoe_position": [
        0.32004887141039734,
        -0.13377436915723004,
        -0.00010773877981357548
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.0000656476507306691
    },
    {
      "completed_steps": 11560,
      "tcp_position": [
        0.3600561865746775,
        -0.06001700896613859,
        0.2700261533153263
      ],
      "shoe_position": [
        0.32004887141042987,
        -0.13377436915740187,
        -0.0001077387798192522
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006426688109476773
    },
    {
      "completed_steps": 11570,
      "tcp_position": [
        0.360055003353735,
        -0.06001664841446059,
        0.2700256081029262
      ],
      "shoe_position": [
        0.3200488714106232,
        -0.13377436915838786,
        -0.00010773877981383824
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006291512983083809
    },
    {
      "completed_steps": 11580,
      "tcp_position": [
        0.36005384499900006,
        -0.06001629554508713,
        0.2700250742813891
      ],
      "shoe_position": [
        0.3200488714106542,
        -0.1337743691585456,
        -0.0001077387798196171
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00006159178755470771
    },
    {
      "completed_steps": 11590,
      "tcp_position": [
        0.36005271098967684,
        -0.06001595019282241,
        0.2700245516109705
      ],
      "shoe_position": [
        0.32004887141083865,
        -0.1337743691594646,
        -0.0001077387798151673
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00006029625763702994
    },
    {
      "completed_steps": 11600,
      "tcp_position": [
        0.3600516008158151,
        -0.06001561219604166,
        0.2700240398570605
      ],
      "shoe_position": [
        0.3200488714108683,
        -0.13377436915961166,
        -0.0001077387798206058
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000059027955965958773
    },
    {
      "completed_steps": 11610,
      "tcp_position": [
        0.36005051397807564,
        -0.06001528139661005,
        0.2700235387900697
      ],
      "shoe_position": [
        0.3200488714110441,
        -0.13377436916047575,
        -0.00010773877981655808
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005778631067410956
    },
    {
      "completed_steps": 11620,
      "tcp_position": [
        0.3600494499875268,
        -0.06001495764001501,
        0.27002304818532596
      ],
      "shoe_position": [
        0.3200488714110723,
        -0.13377436916061405,
        -0.00010773877982155977
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00005657076195385897
    },
    {
      "completed_steps": 11630,
      "tcp_position": [
        0.3600484083654227,
        -0.06001464077499608,
        0.27002256782295175
      ],
      "shoe_position": [
        0.32004887141123983,
        -0.1337743691614311,
        -0.00010773877981770554
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005538076171527194
    },
    {
      "completed_steps": 11640,
      "tcp_position": [
        0.3600473886429859,
        -0.060014330653526626,
        0.2700220974877636
      ],
      "shoe_position": [
        0.3200488714112666,
        -0.13377436916156182,
        -0.00010773877982232823
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005421577335066184
    },
    {
      "completed_steps": 11650,
      "tcp_position": [
        0.3600463903612169,
        -0.06001402713096368,
        0.27002163696917725
      ],
      "shoe_position": [
        0.3200488714114263,
        -0.13377436916233706,
        -0.00010773877981864003
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00005307527156862156
    },
    {
      "completed_steps": 11660,
      "tcp_position": [
        0.3600454130706875,
        -0.060013730065774054,
        0.27002118606109166
      ],
      "shoe_position": [
        0.32004887141145194,
        -0.1337743691624611,
        -0.00010773877982295449
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005195874209415497
    },
    {
      "completed_steps": 11670,
      "tcp_position": [
        0.360044456331325,
        -0.060013439319297215,
        0.2700207445617986
      ],
      "shoe_position": [
        0.3200488714116511,
        -0.13377436916342678,
        -0.00010773877981725387
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00005086568138012914
    },
    {
      "completed_steps": 11680,
      "tcp_position": [
        0.3600435197122486,
        -0.060013154756183455,
        0.27002031227389167
      ],
      "shoe_position": [
        0.32004887141167554,
        -0.1337743691635448,
        -0.00010773877982218647
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004979559654327152
    },
    {
      "completed_steps": 11690,
      "tcp_position": [
        0.3600426027915629,
        -0.060012876243899636,
        0.2700198890041601
      ],
      "shoe_position": [
        0.3200488714118654,
        -0.13377436916446425,
        -0.00010773877981731293
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004874800500939594
    },
    {
      "completed_steps": 11700,
      "tcp_position": [
        0.36004170515617046,
        -0.060012603652759455,
        0.2700194745634971
      ],
      "shoe_position": [
        0.32004887141188876,
        -0.1337743691645767,
        -0.00010773877982231645
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004772243432062939
    },
    {
      "completed_steps": 11710,
      "tcp_position": [
        0.36004082640159774,
        -0.06001233685589269,
        0.2700190687668192
      ],
      "shoe_position": [
        0.3200488714120696,
        -0.13377436916545193,
        -0.00010773877981788989
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00004671842194190393
    },
    {
      "completed_steps": 11720,
      "tcp_position": [
        0.3600399661318173,
        -0.060012075729280925,
        0.27001867143297564
      ],
      "shoe_position": [
        0.32004887141209176,
        -0.13377436916555893,
        -0.00010773877982272983
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000045735515078222304
    },
    {
      "completed_steps": 11730,
      "tcp_position": [
        0.360039123959056,
        -0.06001182015141831,
        0.27001828238465586
      ],
      "shoe_position": [
        0.3200488714122642,
        -0.1337743691663924,
        -0.00010773877981856803
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000044773270379479886
    },
    {
      "completed_steps": 11740,
      "tcp_position": [
        0.3600382995036472,
        -0.06001157000363304,
        0.2700179014483167
      ],
      "shoe_position": [
        0.3200488714122852,
        -0.1337743691664943,
        -0.00010773877982318707
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004383125386668742
    },
    {
      "completed_steps": 11750,
      "tcp_position": [
        0.3600374923938507,
        -0.06001132516974599,
        0.2700175284540908
      ],
      "shoe_position": [
        0.32004887141244953,
        -0.13377436916728822,
        -0.00010773877981922855
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000042909040646993846
    },
    {
      "completed_steps": 11760,
      "tcp_position": [
        0.36003670226568973,
        -0.06001108553602147,
        0.27001716323570546
      ],
      "shoe_position": [
        0.32004887141246957,
        -0.1337743691673853,
        -0.00010773877982362484
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004200621472502266
    },
    {
      "completed_steps": 11770,
      "tcp_position": [
        0.3600359287627918,
        -0.06001085099127973,
        0.2700168056304147
      ],
      "shoe_position": [
        0.320048871412673,
        -0.13377436916836874,
        -0.00010773877981781723
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00004112236886581695
    },
    {
      "completed_steps": 11780,
      "tcp_position": [
        0.36003517153623016,
        -0.06001062142672485,
        0.27001645547891523
      ],
      "shoe_position": [
        0.3200488714126921,
        -0.13377436916846128,
        -0.00010773877982284083
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00004025710437662739
    },
    {
      "completed_steps": 11790,
      "tcp_position": [
        0.36003443024436804,
        -0.060010396735859936,
        0.27001611262526953
      ],
      "shoe_position": [
        0.32004887141288596,
        -0.1337743691693988,
        -0.00010773877981784019
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003941003091677514
    },
    {
      "completed_steps": 11800,
      "tcp_position": [
        0.3600337045527117,
        -0.06001017681459559,
        0.2700157769168435
      ],
      "shoe_position": [
        0.3200488714129043,
        -0.13377436916948698,
        -0.00010773877982293139
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.000038580766372590795
    },
    {
      "completed_steps": 11810,
      "tcp_position": [
        0.36003299413375894,
        -0.06000996156101761,
        0.270015448204224
      ],
      "shoe_position": [
        0.320048871413089,
        -0.13377436917038008,
        -0.00010773877981836216
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000037768936629959737
    },
    {
      "completed_steps": 11820,
      "tcp_position": [
        0.36003229866685177,
        -0.06000975087538733,
        0.27001512634115116
      ],
      "shoe_position": [
        0.32004887141310645,
        -0.1337743691704641,
        -0.0001077387798232936
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000036974175418018404
    },
    {
      "completed_steps": 11830,
      "tcp_position": [
        0.36003161783804233,
        -0.06000954466021796,
        0.270014811184459
      ],
      "shoe_position": [
        0.32004887141328253,
        -0.1337743691713148,
        -0.00010773877981899987
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00003619612418791346
    },
    {
      "completed_steps": 11840,
      "tcp_position": [
        0.36003095133994595,
        -0.06000934282006292,
        0.270014502593997
      ],
      "shoe_position": [
        0.320048871413299,
        -0.13377436917139482,
        -0.00010773877982371227
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000035434431896393656
    },
    {
      "completed_steps": 11850,
      "tcp_position": [
        0.36003029887160515,
        -0.06000914526149555,
        0.27001420043257074
      ],
      "shoe_position": [
        0.32004887141346683,
        -0.13377436917220537,
        -0.00010773877981963122
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000034688754857498385
    },
    {
      "completed_steps": 11860,
      "tcp_position": [
        0.3600296601383619,
        -0.060008951893202725,
        0.2700139045658807
      ],
      "shoe_position": [
        0.3200488714135292,
        -0.13377436917250696,
        -0.00010773877982150182
      ],
      "contacts": 6,
      "active_contacts": 4,
      "tracking_error_m": 0.00003395875663053004
    },
    {
      "completed_steps": 11870,
      "tcp_position": [
        0.3600290348517259,
        -0.060008762625816114,
        0.27001361486245384
      ],
      "shoe_position": [
        0.32004887141368904,
        -0.13377436917328003,
        -0.00010773877981829925
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000033244107832435454
    },
    {
      "completed_steps": 11880,
      "tcp_position": [
        0.3600284227292338,
        -0.060008577371767916,
        0.27001333119358645
      ],
      "shoe_position": [
        0.32004887141374855,
        -0.13377436917356758,
        -0.0001077387798208837
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000325444859535768
    },
    {
      "completed_steps": 11890,
      "tcp_position": [
        0.36002782349434265,
        -0.060008396045554434,
        0.27001305343328774
      ],
      "shoe_position": [
        0.320048871413901,
        -0.13377436917430452,
        -0.0001077387798183283
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003185957531081164
    },
    {
      "completed_steps": 11900,
      "tcp_position": [
        0.3600272368762959,
        -0.0600082185634323,
        0.2700127814582158
      ],
      "shoe_position": [
        0.32004887141395766,
        -0.13377436917457847,
        -0.0001077387798210894
      ],
      "contacts": 7,
      "active_contacts": 4,
      "tracking_error_m": 0.00003118906682430233
    },
    {
      "completed_steps": 11910,
      "tcp_position": [
        0.3600266626100088,
        -0.060008044843498726,
        0.2700125151476195
      ],
      "shoe_position": [
        0.32004887141410293,
        -0.13377436917528054,
        -0.00010773877981883551
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00003053265791474817
    },
    {
      "completed_steps": 11920,
      "tcp_position": [
        0.36002610043593447,
        -0.060007874805451056,
        0.2700122543832898
      ],
      "shoe_position": [
        0.320048871414157,
        -0.13377436917554156,
        -0.00010773877982154873
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000029890052302980574
    },
    {
      "completed_steps": 11930,
      "tcp_position": [
        0.3600255500999727,
        -0.060007708370948,
        0.2700119990495059
      ],
      "shoe_position": [
        0.3200488714142954,
        -0.13377436917621036,
        -0.0001077387798194528
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000029260960003622073
    },
    {
      "completed_steps": 11940,
      "tcp_position": [
        0.3600250113533422,
        -0.060007545463221706,
        0.2700117490329743
      ],
      "shoe_position": [
        0.32004887141439553,
        -0.13377436917669464,
        -0.00010773877981931661
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000028645097086063765
    },
    {
      "completed_steps": 11950,
      "tcp_position": [
        0.3600244839524711,
        -0.06000738600715073,
        0.2700115042227803
      ],
      "shoe_position": [
        0.3200488714145275,
        -0.1337743691773324,
        -0.00010773877981811898
      ],
      "contacts": 7,
      "active_contacts": 4,
      "tracking_error_m": 0.00002804218557846917
    },
    {
      "completed_steps": 11960,
      "tcp_position": [
        0.36002396765889416,
        -0.060007229929273445,
        0.2700112645103371
      ],
      "shoe_position": [
        0.32004887141462296,
        -0.13377436917779406,
        -0.00010773877981881306
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000027451953360377457
    },
    {
      "completed_steps": 11970,
      "tcp_position": [
        0.36002346223913034,
        -0.06000707715756053,
        0.27001102978933766
      ],
      "shoe_position": [
        0.3200488714147487,
        -0.13377436917840207,
        -0.00010773877981818311
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000026874133976363285
    },
    {
      "completed_steps": 11980,
      "tcp_position": [
        0.3600229674646027,
        -0.060006927621731806,
        0.2700107999557103
      ],
      "shoe_position": [
        0.3200488714148396,
        -0.13377436917884192,
        -0.00010773877981914288
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000263084666311248
    },
    {
      "completed_steps": 11990,
      "tcp_position": [
        0.36002248311152,
        -0.06000678125291894,
        0.270010574907561
      ],
      "shoe_position": [
        0.3200488714149595,
        -0.1337743691794211,
        -0.00010773877981871037
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000025754695973659727
    },
    {
      "completed_steps": 12000,
      "tcp_position": [
        0.36002200896078207,
        -0.060006637983729585,
        0.270010354545132
      ],
      "shoe_position": [
        0.3200488714150461,
        -0.13377436917984,
        -0.00010773877981970481
      ],
      "contacts": 7,
      "active_contacts": 4,
      "tracking_error_m": 0.00002521257201460911
    },
    {
      "completed_steps": 12010,
      "tcp_position": [
        0.3600215515535083,
        -0.060006642816563385,
        0.27001015275037843
      ],
      "shoe_position": [
        0.3200488714151603,
        -0.1337743691803917,
        -0.0001077387798193355
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000024732060382475444
    },
    {
      "completed_steps": 12020,
      "tcp_position": [
        0.36002111941049075,
        -0.0600068730746671,
        0.27000998136060916
      ],
      "shoe_position": [
        0.320048871415243,
        -0.1337743691807909,
        -0.00010773877982029424
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000024349460250011293
    },
    {
      "completed_steps": 12030,
      "tcp_position": [
        0.3600207052319375,
        -0.06000713276191021,
        0.27000982351031244
      ],
      "shoe_position": [
        0.3200488714153518,
        -0.13377436918131652,
        -0.00010773877981994709
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002400175570480639
    },
    {
      "completed_steps": 12040,
      "tcp_position": [
        0.36002030223352066,
        -0.06000733696190197,
        0.270009668422924
      ],
      "shoe_position": [
        0.3200488714154791,
        -0.1337743691819316,
        -0.0001077387798181867
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002365354302670456
    },
    {
      "completed_steps": 12050,
      "tcp_position": [
        0.3600199072003412,
        -0.060007472793992926,
        0.2700095122138011
      ],
      "shoe_position": [
        0.3200488714155829,
        -0.13377436918243288,
        -0.00010773877981871305
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000023294237203308252
    },
    {
      "completed_steps": 12060,
      "tcp_position": [
        0.3600195189615855,
        -0.060007547151733065,
        0.2700093541082551
      ],
      "shoe_position": [
        0.3200488714157042,
        -0.13377436918301927,
        -0.00010773877981780598
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000022922667861905463
    },
    {
      "completed_steps": 12070,
      "tcp_position": [
        0.360019137146322,
        -0.06000756959861989,
        0.2700091944181423
      ],
      "shoe_position": [
        0.3200488714158031,
        -0.13377436918349722,
        -0.00010773877981877648
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000022540330911317368
    },
    {
      "completed_steps": 12080,
      "tcp_position": [
        0.36001876163197394,
        -0.06000754897381372,
        0.27000903373630036
      ],
      "shoe_position": [
        0.32004887141591865,
        -0.13377436918405586,
        -0.00010773877981819658
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000022149361875918968
    },
    {
      "completed_steps": 12090,
      "tcp_position": [
        0.36001839235892147,
        -0.06000749310179662,
        0.27000887266088686
      ],
      "shoe_position": [
        0.32004887141601285,
        -0.13377436918451113,
        -0.0001077387798192746
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002175200111355305
    },
    {
      "completed_steps": 12100,
      "tcp_position": [
        0.360018029280234,
        -0.060007408852698264,
        0.2700087117175658
      ],
      "shoe_position": [
        0.3200488714161229,
        -0.1337743691850433,
        -0.00010773877981880625
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002135041140137154
    },
    {
      "completed_steps": 12110,
      "tcp_position": [
        0.3600176723505185,
        -0.06000730217442753,
        0.2700085513479513
      ],
      "shoe_position": [
        0.32004887141621274,
        -0.13377436918547697,
        -0.0001077387798198733
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002094658148729966
    },
    {
      "completed_steps": 12120,
      "tcp_position": [
        0.3600173215236236,
        -0.0600071781293706,
        0.27000839191717957
      ],
      "shoe_position": [
        0.32004887141631766,
        -0.13377436918598404,
        -0.00010773877981943921
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000020542273385693794
    },
    {
      "completed_steps": 12130,
      "tcp_position": [
        0.36001697675184685,
        -0.060007040961202955,
        0.2700082337252041
      ],
      "shoe_position": [
        0.32004887141640326,
        -0.1337743691863972,
        -0.00010773877982046014
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00002013900366621925
    },
    {
      "completed_steps": 12140,
      "tcp_position": [
        0.36001663798541206,
        -0.06000689418504071,
        0.2700080770174218
      ],
      "shoe_position": [
        0.3200488714165516,
        -0.13377436918711413,
        -0.0001077387798174359
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001973804844404935
    },
    {
      "completed_steps": 12150,
      "tcp_position": [
        0.3600163051721403,
        -0.06000674068588325,
        0.2700079219937118
      ],
      "shoe_position": [
        0.3200488714166332,
        -0.13377436918750826,
        -0.00010773877981929807
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001934046196633302
    },
    {
      "completed_steps": 12160,
      "tcp_position": [
        0.3600159782573092,
        -0.060006582813969436,
        0.27000776881593846
      ],
      "shoe_position": [
        0.3200488714167745,
        -0.13377436918819174,
        -0.00010773877981715856
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000018947101294941026
    },
    {
      "completed_steps": 12170,
      "tcp_position": [
        0.36001565718366385,
        -0.060006422471106664,
        0.27000761761416037
      ],
      "shoe_position": [
        0.32004887141685223,
        -0.13377436918856747,
        -0.00010773877981937827
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001855865245366405
    },
    {
      "completed_steps": 12180,
      "tcp_position": [
        0.36001534189151607,
        -0.06000626118589643,
        0.2700074684917871
      ],
      "shoe_position": [
        0.3200488714169869,
        -0.13377436918921862,
        -0.00010773877981761093
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000018175655523101832
    },
    {
      "completed_steps": 12190,
      "tcp_position": [
        0.36001503231889925,
        -0.06000610017788498,
        0.2700073215298739
      ],
      "shoe_position": [
        0.32004887141706095,
        -0.13377436918957655,
        -0.00010773877981986232
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000017798527506836763
    },
    {
      "completed_steps": 12200,
      "tcp_position": [
        0.3600147284017477,
        -0.06000594041160076,
        0.2700071767907102
      ],
      "shoe_position": [
        0.3200488714171893,
        -0.13377436919019683,
        -0.00010773877981825502
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000017427582532465442
    },
    {
      "completed_steps": 12210,
      "tcp_position": [
        0.3600144300740865,
        -0.060005782641756274,
        0.27000703432082424
      ],
      "shoe_position": [
        0.3200488714172599,
        -0.13377436919053778,
        -0.00010773877982043432
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001706304935473222
    },
    {
      "completed_steps": 12220,
      "tcp_position": [
        0.3600141372682253,
        -0.06000562745089905,
        0.27000689415350043
      ],
      "shoe_position": [
        0.32004887141738236,
        -0.13377436919112873,
        -0.00010773877981891611
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000016705086320718047
    },
    {
      "completed_steps": 12230,
      "tcp_position": [
        0.3600138499149458,
        -0.06000547528068922,
        0.27000675631089355
      ],
      "shoe_position": [
        0.3200488714174497,
        -0.13377436919145355,
        -0.00010773877982099644
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000016353794040575276
    },
    {
      "completed_steps": 12240,
      "tcp_position": [
        0.36001356794368716,
        -0.06000532645783755,
        0.270006620805804
      ],
      "shoe_position": [
        0.3200488714176144,
        -0.13377436919224958,
        -0.00010773877981701077
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000016009226042747273
    },
    {
      "completed_steps": 12250,
      "tcp_position": [
        0.36001329128272186,
        -0.06000518121558045,
        0.27000648764317414
      ],
      "shoe_position": [
        0.32004887141767846,
        -0.1337743691925594,
        -0.00010773877981989668
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00001567139767980495
    },
    {
      "completed_steps": 12260,
      "tcp_position": [
        0.3600130198593249,
        -0.0600050397114403,
        0.270006356821343
      ],
      "shoe_position": [
        0.3200488714178354,
        -0.13377436919331825,
        -0.00010773877981680846
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000015340293537870374
    },
    {
      "completed_steps": 12270,
      "tcp_position": [
        0.36001275359993373,
        -0.06000490204189384,
        0.27000622833310917
      ],
      "shoe_position": [
        0.3200488714178965,
        -0.1337743691936136,
        -0.00010773877981998061
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000015015873578235572
    },
    {
      "completed_steps": 12280,
      "tcp_position": [
        0.36001249243029826,
        -0.060004768254469196,
        0.270006102166624
      ],
      "shoe_position": [
        0.3200488714180461,
        -0.13377436919433652,
        -0.00010773877981729878
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000014698078205917742
    },
    {
      "completed_steps": 12290,
      "tcp_position": [
        0.36001223627562573,
        -0.0600046383577134,
        0.2700059783061479
      ],
      "shoe_position": [
        0.3200488714181044,
        -0.13377436919461785,
        -0.00010773877982044726
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000014386832447230359
    },
    {
      "completed_steps": 12300,
      "tcp_position": [
        0.360011985060712,
        -0.060004512329383704,
        0.27000585673269095
      ],
      "shoe_position": [
        0.3200488714182469,
        -0.13377436919530653,
        -0.00010773877981795595
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000014082049373275411
    },
    {
      "completed_steps": 12310,
      "tcp_position": [
        0.3600117387100671,
        -0.060004390123174864,
        0.2700057374245503
      ],
      "shoe_position": [
        0.3200488714183023,
        -0.13377436919557456,
        -0.0001077387798209826
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000013783632902837548
    },
    {
      "completed_steps": 12320,
      "tcp_position": [
        0.36001149714803204,
        -0.06000427167422606,
        0.27000562035777403
      ],
      "shoe_position": [
        0.3200488714184382,
        -0.13377436919623073,
        -0.00010773877981864093
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000013491480091992287
    },
    {
      "completed_steps": 12330,
      "tcp_position": [
        0.36001126029888664,
        -0.06000415690362163,
        0.27000550550654884
      ],
      "shoe_position": [
        0.32004887141849103,
        -0.13377436919648616,
        -0.00010773877982153163
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000013205482993641503
    },
    {
      "completed_steps": 12340,
      "tcp_position": [
        0.3600110280869507,
        -0.06000404572205683,
        0.27000539284353053
      ],
      "shoe_position": [
        0.3200488714186683,
        -0.13377436919734337,
        -0.00010773877981684599
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012925530166991648
    },
    {
      "completed_steps": 12350,
      "tcp_position": [
        0.36001080043667555,
        -0.06000393803281266,
        0.27000528234012855
      ],
      "shoe_position": [
        0.32004887141871874,
        -0.13377436919758692,
        -0.00010773877982050444
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012651507896292202
    },
    {
      "completed_steps": 12360,
      "tcp_position": [
        0.3600105705516789,
        -0.06000368889460785,
        0.2700051600400498
      ],
      "shoe_position": [
        0.3200488714188877,
        -0.1337743691984041,
        -0.00010773877981669984
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000012327632357430378
    },
    {
      "completed_steps": 12370,
      "tcp_position": [
        0.36001032969536384,
        -0.06000322093417511,
        0.27000501405716115
      ],
      "shoe_position": [
        0.32004887141893573,
        -0.1337743691986363,
        -0.00010773877982058264
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000011925510156195825
    },
    {
      "completed_steps": 12380,
      "tcp_position": [
        0.3600100848578808,
        -0.06000272963980738,
        0.27000486108008104
      ],
      "shoe_position": [
        0.32004887141909677,
        -0.13377436919941482,
        -0.00010773877981721005
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000011523254380070454
    },
    {
      "completed_steps": 12390,
      "tcp_position": [
        0.36000984249741913,
        -0.060002299612614635,
        0.2700047117008503
      ],
      "shoe_position": [
        0.3200488714191425,
        -0.13377436919963598,
        -0.00010773877982102734
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000011151820413078746
    },
    {
      "completed_steps": 12400,
      "tcp_position": [
        0.36000960552799277,
        -0.06000194355623552,
        0.27000456964831715
      ],
      "shoe_position": [
        0.320048871419296,
        -0.1337743692003776,
        -0.00010773877981787724
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010813198629594245
    },
    {
      "completed_steps": 12410,
      "tcp_position": [
        0.360009374842096,
        -0.060001654439215873,
        0.27000443556382114
      ],
      "shoe_position": [
        0.3200488714193397,
        -0.1337743692005883,
        -0.0001077387798215396
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010502335923757017
    },
    {
      "completed_steps": 12420,
      "tcp_position": [
        0.36000915054586663,
        -0.06000142256427808,
        0.2700043090144527
      ],
      "shoe_position": [
        0.32004887141948596,
        -0.1337743692012949,
        -0.00010773877981856158
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000010213901523725764
    },
    {
      "completed_steps": 12430,
      "tcp_position": [
        0.36000893250514515,
        -0.06000123895682036,
        0.27000418929247505
      ],
      "shoe_position": [
        0.32004887141952754,
        -0.13377436920149566,
        -0.00010773877982205458
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000009943582534100774
    },
    {
      "completed_steps": 12440,
      "tcp_position": [
        0.36000872052853256,
        -0.06000109565645288,
        0.2700040756881387
      ],
      "shoe_position": [
        0.32004887141971455,
        -0.1337743692023999,
        -0.00010773877981685774
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000009688101710555698
    },
    {
      "completed_steps": 12450,
      "tcp_position": [
        0.3600085144167928,
        -0.060000985658183126,
        0.2700039675663416
      ],
      "shoe_position": [
        0.3200488714197542,
        -0.13377436920259136,
        -0.0001077387798210867
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00000944501974857362
    },
    {
      "completed_steps": 12460,
      "tcp_position": [
        0.36000831397368577,
        -0.0600009028811564,
        0.27000386437774726
      ],
      "shoe_position": [
        0.3200488714199325,
        -0.13377436920345348,
        -0.00010773877981677145
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000009212533213173343
    },
    {
      "completed_steps": 12470,
      "tcp_position": [
        0.36000811900811236,
        -0.0600008421324167,
        0.27000376565105666
      ],
      "shoe_position": [
        0.3200488714199703,
        -0.13377436920363597,
        -0.00010773877982117427
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008989305179847117
    },
    {
      "completed_steps": 12480,
      "tcp_position": [
        0.3600079293348144,
        -0.06000079904037743,
        0.270003670981661
      ],
      "shoe_position": [
        0.3200488714201402,
        -0.13377436920445726,
        -0.00010773877981730817
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008774333164359203
    },
    {
      "completed_steps": 12490,
      "tcp_position": [
        0.36000774477482356,
        -0.06000076996487583,
        0.27000358002100944
      ],
      "shoe_position": [
        0.3200488714201763,
        -0.13377436920463107,
        -0.00010773877982160794
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008566850845305169
    },
    {
      "completed_steps": 12500,
      "tcp_position": [
        0.3600075651557301,
        -0.0600007518988887,
        0.27000349246758026
      ],
      "shoe_position": [
        0.3200488714203382,
        -0.13377436920541336,
        -0.0001077387798179902
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008366257404547181
    },
    {
      "completed_steps": 12510,
      "tcp_position": [
        0.36000739031176654,
        -0.06000074237329542,
        0.2700034080593992
      ],
      "shoe_position": [
        0.3200488714203726,
        -0.13377436920557897,
        -0.00010773877982210539
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000008172067974816094
    },
    {
      "completed_steps": 12520,
      "tcp_position": [
        0.36000722008374797,
        -0.060000739370630524,
        0.270003326567847
      ],
      "shoe_position": [
        0.3200488714205269,
        -0.13377436920632435,
        -0.00010773877981866594
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000007983879501696699
    },
    {
      "completed_steps": 12530,
      "tcp_position": [
        0.3600070543189245,
        -0.06000074124990391,
        0.27000324779252377
      ],
      "shoe_position": [
        0.32004887142055954,
        -0.13377436920648209,
        -0.00010773877982258786
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000007801347523730664
    },
    {
      "completed_steps": 12540,
      "tcp_position": [
        0.3600068928707754,
        -0.060000746682468915,
        0.27000317155696474
      ],
      "shoe_position": [
        0.32004887142075406,
        -0.1337743692074224,
        -0.0001077387798170446
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000007624170500235788
    },
    {
      "completed_steps": 12550,
      "tcp_position": [
        0.36000673559878393,
        -0.060000754597974326,
        0.2700030977050654
      ],
      "shoe_position": [
        0.32004887142078525,
        -0.13377436920757285,
        -0.00010773877982167195
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000074520792905997716
    },
    {
      "completed_steps": 12560,
      "tcp_position": [
        0.3600065823681957,
        -0.060000764139133377,
        0.2700030260980813
      ],
      "shoe_position": [
        0.3200488714209706,
        -0.13377436920846927,
        -0.00010773877981700652
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000007284830078790099
    },
    {
      "completed_steps": 12570,
      "tcp_position": [
        0.36000643304977775,
        -0.06000077462402632,
        0.27000295661211304
      ],
      "shoe_position": [
        0.32004887142100025,
        -0.13377436920861271,
        -0.00010773877982176585
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000071221995908747375
    },
    {
      "completed_steps": 12580,
      "tcp_position": [
        0.3600062875195765,
        -0.06000078551476045,
        0.27000288913599
      ],
      "shoe_position": [
        0.32004887142117705,
        -0.1337743692094667,
        -0.00010773877981754014
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000006963981808729998
    },
    {
      "completed_steps": 12590,
      "tcp_position": [
        0.3600061456586832,
        -0.06000079639146282,
        0.27000282356949046
      ],
      "shoe_position": [
        0.32004887142120536,
        -0.13377436920960334,
        -0.00010773877982217037
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000068099856593232724
    },
    {
      "completed_steps": 12600,
      "tcp_position": [
        0.36000600735300375,
        -0.06000080693072525,
        0.27000275982183597
      ],
      "shoe_position": [
        0.3200488714213738,
        -0.13377436921041688,
        -0.00010773877981821009
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000006660033323747344
    },
    {
      "completed_steps": 12610,
      "tcp_position": [
        0.36000587249303656,
        -0.06000081688775984,
        0.2700026978104273
      ],
      "shoe_position": [
        0.32004887142140076,
        -0.13377436921054703,
        -0.00010773877982263922
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000006513958948160298
    },
    {
      "completed_steps": 12620,
      "tcp_position": [
        0.3600057409736586,
        -0.06000082608164172,
        0.2700026374597668
      ],
      "shoe_position": [
        0.32004887142156124,
        -0.13377436921132208,
        -0.00010773877981887566
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000006371607603219612
    },
    {
      "completed_steps": 12630,
      "tcp_position": [
        0.36000561269391984,
        -0.06000083438312215,
        0.2700025787005526
      ],
      "shoe_position": [
        0.320048871421587,
        -0.1337743692114461,
        -0.00010773877982309701
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000006232834409193924
    },
    {
      "completed_steps": 12640,
      "tcp_position": [
        0.36000548755684625,
        -0.06000084170456918,
        0.27000252146890175
      ],
      "shoe_position": [
        0.3200488714217872,
        -0.13377436921241376,
        -0.00010773877981736502
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000006097503763436502
    },
    {
      "completed_steps": 12650,
      "tcp_position": [
        0.36000536546925055,
        -0.060000847991683745,
        0.27000246570569786
      ],
      "shoe_position": [
        0.32004887142181165,
        -0.13377436921253202,
        -0.00010773877982225251
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005965488644092527
    },
    {
      "completed_steps": 12660,
      "tcp_position": [
        0.36000524634155334,
        -0.06000085321668329,
        0.2700024113560269
      ],
      "shoe_position": [
        0.3200488714220024,
        -0.13377436921345456,
        -0.00010773877981734879
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005836669965944538
    },
    {
      "completed_steps": 12670,
      "tcp_position": [
        0.36000513008761,
        -0.06000085737270338,
        0.2700023583687012
      ],
      "shoe_position": [
        0.3200488714220258,
        -0.13377436921356728,
        -0.00010773877982233644
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005710935980147233
    },
    {
      "completed_steps": 12680,
      "tcp_position": [
        0.3600050166245507,
        -0.060000860469210326,
        0.2700023066958449
      ],
      "shoe_position": [
        0.3200488714222075,
        -0.1337743692144461,
        -0.00010773877981787593
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005588181713721545
    },
    {
      "completed_steps": 12690,
      "tcp_position": [
        0.36000490587262063,
        -0.06000086252825068,
        0.2700022562925464
      ],
      "shoe_position": [
        0.3200488714222298,
        -0.13377436921455357,
        -0.00010773877982271822
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005468308441206982
    },
    {
      "completed_steps": 12700,
      "tcp_position": [
        0.36000479775503597,
        -0.060000863581391145,
        0.2700022071165505
      ],
      "shoe_position": [
        0.32004887142240307,
        -0.1337743692153907,
        -0.00010773877981852237
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005351223193976
    },
    {
      "completed_steps": 12710,
      "tcp_position": [
        0.36000469219784315,
        -0.060000863667234144,
        0.27000215912799663
      ],
      "shoe_position": [
        0.3200488714224243,
        -0.13377436921549304,
        -0.00010773877982315507
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005236838301537648
    },
    {
      "completed_steps": 12720,
      "tcp_position": [
        0.36000458912978495,
        -0.06000086282940289,
        0.270002112289191
      ],
      "shoe_position": [
        0.32004887142258953,
        -0.13377436921629066,
        -0.00010773877981919033
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005125070964204
    },
    {
      "completed_steps": 12730,
      "tcp_position": [
        0.3600044884821758,
        -0.06000086111491957,
        0.27000206656440867
      ],
      "shoe_position": [
        0.32004887142260985,
        -0.13377436921638816,
        -0.0001077387798236015
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000005015842860627996
    },
    {
      "completed_steps": 12740,
      "tcp_position": [
        0.3600043901887816,
        -0.06000085857290333,
        0.2700020219197197
      ],
      "shoe_position": [
        0.3200488714228142,
        -0.1337743692173763,
        -0.00010773877981776553
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004909079783581373
    },
    {
      "completed_steps": 12750,
      "tcp_position": [
        0.36000429418570734,
        -0.06000085525353479,
        0.2700019783228382
      ],
      "shoe_position": [
        0.3200488714228335,
        -0.13377436921746927,
        -0.00010773877982280695
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004804711307664417
    },
    {
      "completed_steps": 12760,
      "tcp_position": [
        0.3600042004112891,
        -0.060000851207235285,
        0.270001935742987
      ],
      "shoe_position": [
        0.3200488714230283,
        -0.13377436921841132,
        -0.0001077387798177709
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004702670482477059
    },
    {
      "completed_steps": 12770,
      "tcp_position": [
        0.36000410880599293,
        -0.06000084648402791,
        0.27000189415078224
      ],
      "shoe_position": [
        0.3200488714230468,
        -0.13377436921849997,
        -0.00010773877982288586
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004602893555464906
    },
    {
      "completed_steps": 12780,
      "tcp_position": [
        0.36000401931231896,
        -0.0600008411330412,
        0.27000185351812606
      ],
      "shoe_position": [
        0.32004887142323235,
        -0.13377436921939742,
        -0.00010773877981828904
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004505319717177003
    },
    {
      "completed_steps": 12790,
      "tcp_position": [
        0.36000393187471014,
        -0.06000083520213473,
        0.270001813818117
      ],
      "shoe_position": [
        0.32004887142324984,
        -0.13377436921948188,
        -0.0001077387798232469
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004409890872080901
    },
    {
      "completed_steps": 12800,
      "tcp_position": [
        0.3600038464394654,
        -0.060000828737619416,
        0.2700017750249624
      ],
      "shoe_position": [
        0.3200488714234268,
        -0.1337743692203368,
        -0.00010773877981892836
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004316551426807175
    },
    {
      "completed_steps": 12810,
      "tcp_position": [
        0.360003762954659,
        -0.060000821784056475,
        0.27000173711390885
      ],
      "shoe_position": [
        0.32004887142344346,
        -0.13377436922041727,
        -0.00010773877982366708
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000042252481032115045
    },
    {
      "completed_steps": 12820,
      "tcp_position": [
        0.3600036813700628,
        -0.06000081438412202,
        0.27000170006117086
      ],
      "shoe_position": [
        0.3200488714236121,
        -0.13377436922123181,
        -0.00010773877981956133
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000004135929765120781
    },
    {
      "completed_steps": 12830,
      "tcp_position": [
        0.36000360163707257,
        -0.06000080657851969,
        0.27000166384387275
      ],
      "shoe_position": [
        0.32004887142367483,
        -0.13377436922153493,
        -0.000107738779821442
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000040485472633836664
    },
    {
      "completed_steps": 12840,
      "tcp_position": [
        0.36000352370863864,
        -0.06000079840593483,
        0.270001628439994
      ],
      "shoe_position": [
        0.3200488714238355,
        -0.13377436922231178,
        -0.0001077387798182222
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000003963053295228819
    },
    {
      "completed_steps": 12850,
      "tcp_position": [
        0.3600034475392004,
        -0.06000078990302229,
        0.2700015938283171
      ],
      "shoe_position": [
        0.32004887142389526,
        -0.13377436922260075,
        -0.0001077387798208235
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000003879402277064479
    },
    {
      "completed_steps": 12860,
      "tcp_position": [
        0.3600033730846237,
        -0.06000078110441706,
        0.2700015599883847
      ],
      "shoe_position": [
        0.3200488714240484,
        -0.13377436922334138,
        -0.0001077387798182605
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000037975502300224806
    },
    {
      "completed_steps": 12870,
      "tcp_position": [
        0.36000330030214167,
        -0.06000077204276544,
        0.27000152690045504
      ],
      "shoe_position": [
        0.32004887142410543,
        -0.1337743692236167,
        -0.00010773877982103334
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000003717454674586992
    },
    {
      "completed_steps": 12880,
      "tcp_position": [
        0.3600032291502992,
        -0.06000076274877238,
        0.27000149454546585
      ],
      "shoe_position": [
        0.32004887142425137,
        -0.1337743692243223,
        -0.00010773877981876306
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000036390745381336633
    },
    {
      "completed_steps": 12890,
      "tcp_position": [
        0.36000315958889834,
        -0.06000075325125742,
        0.2700014629049984
      ],
      "shoe_position": [
        0.32004887142430566,
        -0.13377436922458452,
        -0.00010773877982149114
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00000356237006747114
    },
    {
      "completed_steps": 12900,
      "tcp_position": [
        0.3600030915789492,
        -0.060000743577221495,
        0.2700014319612446
      ],
      "shoe_position": [
        0.32004887142444477,
        -0.13377436922525662,
        -0.00010773877981938881
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000003487302752794286
    },
    {
      "completed_steps": 12910,
      "tcp_position": [
        0.36000302508262083,
        -0.0600007337519157,
        0.27000140169697745
      ],
      "shoe_position": [
        0.3200488714244965,
        -0.13377436922550648,
        -0.0001077387798219985
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000034138352557306853
    },
    {
      "completed_steps": 12920,
      "tcp_position": [
        0.36000296006319704,
        -0.06000072379891913,
        0.2700013720955222
      ],
      "shoe_position": [
        0.32004887142462907,
        -0.13377436922614677,
        -0.00010773877981999427
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000033419313469820624
    },
    {
      "completed_steps": 12930,
      "tcp_position": [
        0.3600028964850319,
        -0.06000071374021158,
        0.2700013431407304
      ],
      "shoe_position": [
        0.32004887142472505,
        -0.13377436922661046,
        -0.00010773877981987249
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000032715558456777724
    },
    {
      "completed_steps": 12940,
      "tcp_position": [
        0.3600028343135092,
        -0.06000070359625454,
        0.27000131481695755
      ],
      "shoe_position": [
        0.3200488714248514,
        -0.1337743692272212,
        -0.00010773877981873353
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000003202674568200722
    },
    {
      "completed_steps": 12950,
      "tcp_position": [
        0.3600027735150035,
        -0.06000069338606522,
        0.2700012871090372
      ],
      "shoe_position": [
        0.3200488714249428,
        -0.1337743692276633,
        -0.00010773877981939966
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000003135254277353905
    },
    {
      "completed_steps": 12960,
      "tcp_position": [
        0.3600027140568423,
        -0.06000068312729499,
        0.27000126000226254
      ],
      "shoe_position": [
        0.3200488714250632,
        -0.13377436922824554,
        -0.00010773877981879767
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000030692626388274074
    },
    {
      "completed_steps": 12970,
      "tcp_position": [
        0.3600026559072718,
        -0.060000672836302144,
        0.2700012334823654
      ],
      "shoe_position": [
        0.3200488714251503,
        -0.1337743692286668,
        -0.00010773877981970884
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000030046681799665964
    },
    {
      "completed_steps": 12980,
      "tcp_position": [
        0.3600025990354221,
        -0.06000066252822527,
        0.27000120753549806
      ],
      "shoe_position": [
        0.320048871425265,
        -0.13377436922922148,
        -0.00010773877981928844
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000029414402515853357
    },
    {
      "completed_steps": 12990,
      "tcp_position": [
        0.36000254341127536,
        -0.06000065221705277,
        0.27000118214821534
      ],
      "shoe_position": [
        0.3200488714253481,
        -0.13377436922962274,
        -0.00010773877982023683
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000028795489929121185
    },
    {
      "completed_steps": 13000,
      "tcp_position": [
        0.36000248900563636,
        -0.0600006419156909,
        0.2700011573074578
      ],
      "shoe_position": [
        0.32004887142545746,
        -0.13377436923015112,
        -0.00010773877981988178
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0000028189653002308304
    },
    {
      "completed_steps": 13010,
      "tcp_position": [
        0.35982678469087176,
        -0.05987648729558941,
        0.2699284142134855
      ],
      "shoe_position": [
        0.32004887142558525,
        -0.13377436923076938,
        -0.00010773877981811113
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.04341520664258354
    },
    {
      "completed_steps": 13020,
      "tcp_position": [
        0.3590285063824307,
        -0.058879001127224974,
        0.269687590710294
      ],
      "shoe_position": [
        0.3200488714256895,
        -0.13377436923127328,
        -0.00010773877981863948
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.04238942882117888
    },
    {
      "completed_steps": 13030,
      "tcp_position": [
        0.35741996129097675,
        -0.0559828744105142,
        0.2693745964798599
      ],
      "shoe_position": [
        0.32004887142581134,
        -0.13377436923186262,
        -0.00010773877981772865
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.039912811308485216
    },
    {
      "completed_steps": 13040,
      "tcp_position": [
        0.3553575363332765,
        -0.05092731575878348,
        0.26878874191915597
      ],
      "shoe_position": [
        0.3200488714259108,
        -0.133774369232343,
        -0.00010773877981870507
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.03599232420555769
    },
    {
      "completed_steps": 13050,
      "tcp_position": [
        0.35322802620160537,
        -0.04468972449984404,
        0.26746986869977735
      ],
      "shoe_position": [
        0.3200488714260269,
        -0.13377436923290442,
        -0.00010773877981812779
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.03131775607259525
    },
    {
      "completed_steps": 13060,
      "tcp_position": [
        0.3509177909718582,
        -0.038582172304526846,
        0.264931925380963
      ],
      "shoe_position": [
        0.3200488714261216,
        -0.13377436923336194,
        -0.00010773877981921265
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.026383648817677196
    },
    {
      "completed_steps": 13070,
      "tcp_position": [
        0.3483362497349216,
        -0.03339534825292907,
        0.26090485251939755
      ],
      "shoe_position": [
        0.32004887142623223,
        -0.13377436923389674,
        -0.00010773877981873647
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.021244041836735755
    },
    {
      "completed_steps": 13080,
      "tcp_position": [
        0.34577062860519886,
        -0.029469969108962758,
        0.25589213185992643
      ],
      "shoe_position": [
        0.3200488714263225,
        -0.13377436923433267,
        -0.0001077387798198057
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.016453825396967867
    },
    {
      "completed_steps": 13090,
      "tcp_position": [
        0.34365649769619067,
        -0.026862539989066743,
        0.25069311113174464
      ],
      "shoe_position": [
        0.32004887142642807,
        -0.13377436923484215,
        -0.00010773877981937291
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012822881987855955
    },
    {
      "completed_steps": 13100,
      "tcp_position": [
        0.34206289973637843,
        -0.02539404569723537,
        0.24591294450783946
      ],
      "shoe_position": [
        0.320048871426514,
        -0.13377436923525743,
        -0.0001077387798204011
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01091674348818026
    },
    {
      "completed_steps": 13110,
      "tcp_position": [
        0.3410006492879535,
        -0.02480097707829297,
        0.24183380997104903
      ],
      "shoe_position": [
        0.320048871426663,
        -0.1337743692359779,
        -0.0001077387798173569
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010553720272433113
    },
    {
      "completed_steps": 13120,
      "tcp_position": [
        0.3403614467034896,
        -0.02479149508390264,
        0.23857394522119083
      ],
      "shoe_position": [
        0.320048871426745,
        -0.13377436923637395,
        -0.00010773877981922682
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011048251687160537
    },
    {
      "completed_steps": 13130,
      "tcp_position": [
        0.3400641779429856,
        -0.02501730337785694,
        0.236166835972291
      ],
      "shoe_position": [
        0.3200488714268871,
        -0.13377436923706085,
        -0.00010773877981707524
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011757592102139433
    },
    {
      "completed_steps": 13140,
      "tcp_position": [
        0.3400386101412048,
        -0.025286330449073597,
        0.23458323872855003
      ],
      "shoe_position": [
        0.3200488714269652,
        -0.1337743692374384,
        -0.00010773877981930763
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012279628301626992
    },
    {
      "completed_steps": 13150,
      "tcp_position": [
        0.3402030847012858,
        -0.025549199411900293,
        0.2337378666611748
      ],
      "shoe_position": [
        0.32004887142710053,
        -0.13377436923809274,
        -0.00010773877981753795
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012450039726781383
    },
    {
      "completed_steps": 13160,
      "tcp_position": [
        0.3404927041296674,
        -0.025795094130212234,
        0.2335064789749896
      ],
      "shoe_position": [
        0.3200488714271749,
        -0.13377436923845243,
        -0.00010773877981980409
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.012257068305352222
    },
    {
      "completed_steps": 13170,
      "tcp_position": [
        0.3408840876469841,
        -0.02602941175265773,
        0.23364105584955694
      ],
      "shoe_position": [
        0.32004887142730387,
        -0.1337743692390758,
        -0.0001077387798181854
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.011802609870967281
    },
    {
      "completed_steps": 13180,
      "tcp_position": [
        0.3413277537000586,
        -0.026257048020509377,
        0.2338969949491259
      ],
      "shoe_position": [
        0.32004887142737476,
        -0.13377436923941846,
        -0.00010773877982037423
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.01124563097645546
    },
    {
      "completed_steps": 13190,
      "tcp_position": [
        0.3417651132647006,
        -0.026473236418580393,
        0.23417571011166916
      ],
      "shoe_position": [
        0.32004887142749777,
        -0.13377436924001235,
        -0.00010773877981884556
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010685212847938502
    },
    {
      "completed_steps": 13200,
      "tcp_position": [
        0.34216607652949205,
        -0.026674544120377626,
        0.23444196316044064
      ],
      "shoe_position": [
        0.3200488714275654,
        -0.13377436924033878,
        -0.00010773877982093567
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.010164683332942005
    },
    {
      "completed_steps": 13210,
      "tcp_position": [
        0.34252049471544954,
        -0.026859918794280558,
        0.23468452572927123
      ],
      "shoe_position": [
        0.3200488714277308,
        -0.13377436924113875,
        -0.00010773877981693625
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009698318204869842
    },
    {
      "completed_steps": 13220,
      "tcp_position": [
        0.3428278772861746,
        -0.027029717321997503,
        0.2349012057355886
      ],
      "shoe_position": [
        0.3200488714277953,
        -0.13377436924145006,
        -0.00010773877981983755
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.009287606061855034
    },
    {
      "completed_steps": 13230,
      "tcp_position": [
        0.3430915689224167,
        -0.02718492220771261,
        0.23509306637088603
      ],
      "shoe_position": [
        0.320048871427953,
        -0.13377436924221267,
        -0.00010773877981673672
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008929114209756608
    },
    {
      "completed_steps": 13240,
      "tcp_position": [
        0.34331660442601575,
        -0.027326799726971895,
        0.23526250495401113
      ],
      "shoe_position": [
        0.3200488714280144,
        -0.1337743692425095,
        -0.00010773877981992293
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00861728700977509
    },
    {
      "completed_steps": 13250,
      "tcp_position": [
        0.3435081267867672,
        -0.027456613956211393,
        0.23541215789400924
      ],
      "shoe_position": [
        0.3200488714281647,
        -0.13377436924323605,
        -0.00010773877981722871
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008346348038149973
    },
    {
      "completed_steps": 13260,
      "tcp_position": [
        0.3436708073923724,
        -0.027575534569794922,
        0.23554449357980106
      ],
      "shoe_position": [
        0.3200488714282232,
        -0.13377436924351882,
        -0.00010773877982039189
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.008110995570652299
    },
    {
      "completed_steps": 13270,
      "tcp_position": [
        0.34380893732724593,
        -0.02768465048826605,
        0.23566181495844496
      ],
      "shoe_position": [
        0.32004887142836635,
        -0.13377436924421093,
        -0.0001077387798178893
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007906323408147866
    },
    {
      "completed_steps": 13280,
      "tcp_position": [
        0.34393272550288767,
        -0.02778604061975917,
        0.2357694556450067
      ],
      "shoe_position": [
        0.3200488714284222,
        -0.1337743692444803,
        -0.00010773877982093068
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007720812230603159
    },
    {
      "completed_steps": 13290,
      "tcp_position": [
        0.34405185844703357,
        -0.027881714884638992,
        0.2358726346435887
      ],
      "shoe_position": [
        0.3200488714285588,
        -0.13377436924513963,
        -0.00010773877981856998
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007543385483282007
    },
    {
      "completed_steps": 13300,
      "tcp_position": [
        0.3441685427783788,
        -0.02797238216390959,
        0.23597272839777056
      ],
      "shoe_position": [
        0.32004887142861205,
        -0.13377436924539624,
        -0.00010773877982147316
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007371298662715616
    },
    {
      "completed_steps": 13310,
      "tcp_position": [
        0.3442832018927907,
        -0.028058403877831508,
        0.23607010035859768
      ],
      "shoe_position": [
        0.3200488714287902,
        -0.13377436924625766,
        -0.00010773877981676184
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007203866135048952
    },
    {
      "completed_steps": 13320,
      "tcp_position": [
        0.3443959240620885,
        -0.028140056056262405,
        0.23616489193068113
      ],
      "shoe_position": [
        0.32004887142884075,
        -0.13377436924650238,
        -0.00010773877982044028
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.007040817601321523
    },
    {
      "completed_steps": 13330,
      "tcp_position": [
        0.3445067357689155,
        -0.028217584946059547,
        0.23625719273635198
      ],
      "shoe_position": [
        0.32004887142901056,
        -0.13377436924732364,
        -0.00010773877981662449
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006881973666750115
    },
    {
      "completed_steps": 13340,
      "tcp_position": [
        0.34461565301986863,
        -0.0282912195715423,
        0.23634707855034764
      ],
      "shoe_position": [
        0.32004887142905886,
        -0.13377436924755695,
        -0.00010773877982052687
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006727180544065981
    },
    {
      "completed_steps": 13350,
      "tcp_position": [
        0.3447226908650559,
        -0.028361175095820795,
        0.23643462011072633
      ],
      "shoe_position": [
        0.32004887142922067,
        -0.13377436924833933,
        -0.00010773877981713971
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006576296262118907
    },
    {
      "completed_steps": 13360,
      "tcp_position": [
        0.3448278650846327,
        -0.028427654150890675,
        0.23651988528204446
      ],
      "shoe_position": [
        0.32004887142926675,
        -0.13377436924856165,
        -0.00010773877982097413
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006429187312724939
    },
    {
      "completed_steps": 13370,
      "tcp_position": [
        0.34493119241698134,
        -0.02849084768643417,
        0.23660293964107137
      ],
      "shoe_position": [
        0.32004887142942096,
        -0.13377436924930694,
        -0.00010773877981781833
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006285727491819272
    },
    {
      "completed_steps": 13380,
      "tcp_position": [
        0.34503269052067637,
        -0.028550935679571125,
        0.2366838466733861
      ],
      "shoe_position": [
        0.3200488714294647,
        -0.1337743692495187,
        -0.00010773877982149673
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006145797243135392
    },
    {
      "completed_steps": 13390,
      "tcp_position": [
        0.34513237789226175,
        -0.02860808778330606,
        0.23676266787018438
      ],
      "shoe_position": [
        0.3200488714296117,
        -0.1337743692502288,
        -0.00010773877981851112
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.006009283145389326
    },
    {
      "completed_steps": 13400,
      "tcp_position": [
        0.3452302737808664,
        -0.028662463932617444,
        0.23683946279821122
      ],
      "shoe_position": [
        0.32004887142965344,
        -0.1337743692504305,
        -0.0001077387798220161
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005876077462128137
    },
    {
      "completed_steps": 13410,
      "tcp_position": [
        0.3453263981069806,
        -0.0287142149139383,
        0.23691428916170323
      ],
      "shoe_position": [
        0.3200488714298414,
        -0.1337743692513393,
        -0.00010773877981680147
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005746077733511342
    },
    {
      "completed_steps": 13420,
      "tcp_position": [
        0.3454207713864603,
        -0.02876348290080552,
        0.23698720286129307
      ],
      "shoe_position": [
        0.32004887142988125,
        -0.13377436925153172,
        -0.00010773877982104578
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005619186402911122
    },
    {
      "completed_steps": 13430,
      "tcp_position": [
        0.34551341465968965,
        -0.02881040195776066,
        0.23705825805117275
      ],
      "shoe_position": [
        0.32004887143006044,
        -0.13377436925239802,
        -0.00010773877981669576
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005495310474529809
    },
    {
      "completed_steps": 13440,
      "tcp_position": [
        0.34560434942562396,
        -0.028855098514382106,
        0.23712750719481335
      ],
      "shoe_position": [
        0.32004887143009836,
        -0.13377436925258146,
        -0.00010773877982111795
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005374361199215338
    },
    {
      "completed_steps": 13450,
      "tcp_position": [
        0.34569359758041823,
        -0.028897691811212416,
        0.23719500111930053
      ],
      "shoe_position": [
        0.32004887143026906,
        -0.1337743692534068,
        -0.00010773877981723572
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00525625378603173
    },
    {
      "completed_steps": 13460,
      "tcp_position": [
        0.3457811813603594,
        -0.02893829431925686,
        0.23726078906827086
      ],
      "shoe_position": [
        0.32004887143030525,
        -0.13377436925358155,
        -0.00010773877982155616
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005140907137383964
    },
    {
      "completed_steps": 13470,
      "tcp_position": [
        0.34586712328883495,
        -0.028977012134625623,
        0.23732491875343456
      ],
      "shoe_position": [
        0.32004887143046795,
        -0.13377436925436773,
        -0.00010773877981791282
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.005028243605685737
    },
    {
      "completed_steps": 13480,
      "tcp_position": [
        0.3459514461225521,
        -0.029013945266121537,
        0.23738743639811438
      ],
      "shoe_position": [
        0.3200488714305024,
        -0.13377436925453415,
        -0.00010773877982204866
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004918188793722754
    },
    {
      "completed_steps": 13490,
      "tcp_position": [
        0.3460341728120607,
        -0.029049188122767012,
        0.2374483867948894
      ],
      "shoe_position": [
        0.3200488714306575,
        -0.13377436925528322,
        -0.00010773877981859825
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004810671310636416
    },
    {
      "completed_steps": 13500,
      "tcp_position": [
        0.3461153264659582,
        -0.029082830003252968,
        0.2375078133692417
      ],
      "shoe_position": [
        0.32004887143069033,
        -0.13377436925544178,
        -0.00010773877982253983
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00470562253815027
    },
    {
      "completed_steps": 13510,
      "tcp_position": [
        0.3461949302919077,
        -0.029114954875780103,
        0.23756575818402437
      ],
      "shoe_position": [
        0.32004887143088584,
        -0.13377436925638672,
        -0.00010773877981697246
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004602976599331279
    },
    {
      "completed_steps": 13520,
      "tcp_position": [
        0.34627300758115,
        -0.02914564216391856,
        0.23762226201564535
      ],
      "shoe_position": [
        0.3200488714309172,
        -0.13377436925653793,
        -0.00010773877982162162
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004502670066136534
    },
    {
      "completed_steps": 13530,
      "tcp_position": [
        0.3463495816639032,
        -0.02917496679772501,
        0.2376773643873128
      ],
      "shoe_position": [
        0.32004887143110344,
        -0.13377436925743882,
        -0.00010773877981693561
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004404641869969716
    },
    {
      "completed_steps": 13540,
      "tcp_position": [
        0.3464246758789468,
        -0.02920299950420602,
        0.23773110361072364
      ],
      "shoe_position": [
        0.3200488714311333,
        -0.133774369257583,
        -0.00010773877982171719
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0043088331583099925
    },
    {
      "completed_steps": 13550,
      "tcp_position": [
        0.3464983135456107,
        -0.029229807058470204,
        0.23778351682642493
      ],
      "shoe_position": [
        0.3200488714313109,
        -0.13377436925844122,
        -0.00010773877981747378
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004215187166755097
    },
    {
      "completed_steps": 13560,
      "tcp_position": [
        0.34657051793736104,
        -0.029255452509182864,
        0.23783464004273341
      ],
      "shoe_position": [
        0.32004887143133937,
        -0.13377436925857858,
        -0.00010773877982212573
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0041236491034735
    },
    {
      "completed_steps": 13570,
      "tcp_position": [
        0.3466413122578987,
        -0.029279995402422366,
        0.23788450817400125
      ],
      "shoe_position": [
        0.3200488714315086,
        -0.1337743692593961,
        -0.00010773877981814858
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.004034166039634699
    },
    {
      "completed_steps": 13580,
      "tcp_position": [
        0.34671071961835226,
        -0.029303491973250842,
        0.2379331550766568
      ],
      "shoe_position": [
        0.32004887143153576,
        -0.1337743692595269,
        -0.00010773877982259809
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003946686812703548
    },
    {
      "completed_steps": 13590,
      "tcp_position": [
        0.34677876301705834,
        -0.029325995341009266,
        0.23798061358442357
      ],
      "shoe_position": [
        0.320048871431697,
        -0.1337743692603058,
        -0.00010773877981881645
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003861161933411587
    },
    {
      "completed_steps": 13600,
      "tcp_position": [
        0.34684546532076327,
        -0.02934755568785518,
        0.23802691554236444
      ],
      "shoe_position": [
        0.3200488714317228,
        -0.13377436926043046,
        -0.00010773877982305679
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003777543500731681
    },
    {
      "completed_steps": 13610,
      "tcp_position": [
        0.34691084924745597,
        -0.029368220427525973,
        0.2380720918397352
      ],
      "shoe_position": [
        0.3200488714319239,
        -0.1337743692614029,
        -0.00010773877981729807
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0036957851228871822
    },
    {
      "completed_steps": 13620,
      "tcp_position": [
        0.34697493735070706,
        -0.029388034364200583,
        0.23811617244170363
      ],
      "shoe_position": [
        0.32004887143194855,
        -0.13377436926152175,
        -0.00010773877982220761
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003615841844016868
    },
    {
      "completed_steps": 13630,
      "tcp_position": [
        0.3470377520054117,
        -0.029407039842041578,
        0.23815918641996903
      ],
      "shoe_position": [
        0.3200488714321403,
        -0.13377436926244876,
        -0.0001077387798172812
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003537670076023871
    },
    {
      "completed_steps": 13640,
      "tcp_position": [
        0.34709931539484634,
        -0.029425276885977222,
        0.23820116198231955
      ],
      "shoe_position": [
        0.32004887143216376,
        -0.1337743692625621,
        -0.00010773877982229089
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0034612275351701208
    },
    {
      "completed_steps": 13650,
      "tcp_position": [
        0.3471596494989478,
        -0.029442783334244778,
        0.23824212650116436
      ],
      "shoe_position": [
        0.32004887143234645,
        -0.13377436926344524,
        -0.00010773877981779978
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003386473183022631
    },
    {
      "completed_steps": 13660,
      "tcp_position": [
        0.3472187760837379,
        -0.02945959496318853,
        0.23828210654106902
      ],
      "shoe_position": [
        0.3200488714323688,
        -0.1337743692635532,
        -0.0001077387798226663
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0033133671713888174
    },
    {
      "completed_steps": 13670,
      "tcp_position": [
        0.34727671669181764,
        -0.029475745604776282,
        0.23832112788532717
      ],
      "shoe_position": [
        0.32004887143254296,
        -0.13377436926439454,
        -0.00010773877981845499
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0032418707909109986
    },
    {
      "completed_steps": 13680,
      "tcp_position": [
        0.3473334926338554,
        -0.0294912672572612,
        0.23835921556160555
      ],
      "shoe_position": [
        0.3200488714325643,
        -0.13377436926449734,
        -0.00010773877982311041
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003171946423020935
    },
    {
      "completed_steps": 13690,
      "tcp_position": [
        0.3473891249810061,
        -0.029506190189402624,
        0.2383963938666861
      ],
      "shoe_position": [
        0.32004887143273025,
        -0.13377436926529887,
        -0.0001077387798191196
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0031035574949806266
    },
    {
      "completed_steps": 13700,
      "tcp_position": [
        0.3474436345581999,
        -0.029520543038621172,
        0.23843268639034326
      ],
      "shoe_position": [
        0.32004887143275057,
        -0.1337743692653969,
        -0.00010773877982355295
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.003036668437755371
    },
    {
      "completed_steps": 13710,
      "tcp_position": [
        0.34749704193823405,
        -0.029534352903451935,
        0.23846811603837934
      ],
      "shoe_position": [
        0.32004887143295596,
        -0.13377436926638991,
        -0.00010773877981768223
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002971244646499725
    },
    {
      "completed_steps": 13720,
      "tcp_position": [
        0.3475493674366198,
        -0.029547645430602596,
        0.2385027050548515
      ],
      "shoe_position": [
        0.32004887143297533,
        -0.13377436926648334,
        -0.00010773877982275199
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0029072524434457497
    },
    {
      "completed_steps": 13730,
      "tcp_position": [
        0.3476006311071324,
        -0.02956044489704528,
        0.2385364750435181
      ],
      "shoe_position": [
        0.3200488714331711,
        -0.13377436926743008,
        -0.00010773877981769786
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0028446590429855377
    },
    {
      "completed_steps": 13740,
      "tcp_position": [
        0.3476508527380066,
        -0.02957277428726441,
        0.23856944698853333
      ],
      "shoe_position": [
        0.3200488714331896,
        -0.13377436926751915,
        -0.00010773877982283973
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0027834325188101296
    },
    {
      "completed_steps": 13750,
      "tcp_position": [
        0.34770005184879865,
        -0.029584655367737054,
        0.23860164127451983
      ],
      "shoe_position": [
        0.3200488714333761,
        -0.133774369268421,
        -0.00010773877981822493
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0027235417725620706
    },
    {
      "completed_steps": 13760,
      "tcp_position": [
        0.34774824768756446,
        -0.029596108750337236,
        0.23863307770555647
      ],
      "shoe_position": [
        0.3200488714333938,
        -0.13377436926850592,
        -0.00010773877982320566
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0026649565056787667
    },
    {
      "completed_steps": 13770,
      "tcp_position": [
        0.34779545922897437,
        -0.029607153962578597,
        0.23866377552395515
      ],
      "shoe_position": [
        0.3200488714335715,
        -0.1337743692693651,
        -0.000107738779818877
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0026076471905940785
    },
    {
      "completed_steps": 13780,
      "tcp_position": [
        0.3478417051725732,
        -0.02961780950613828,
        0.23869375342819665
      ],
      "shoe_position": [
        0.3200488714335883,
        -0.13377436926944594,
        -0.00010773877982363254
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002551585045034461
    },
    {
      "completed_steps": 13790,
      "tcp_position": [
        0.34788700394161465,
        -0.029628092914548612,
        0.2387230295902244
      ],
      "shoe_position": [
        0.3200488714337578,
        -0.13377436927026448,
        -0.00010773877981950405
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0024967420071772186
    },
    {
      "completed_steps": 13800,
      "tcp_position": [
        0.3479313736823083,
        -0.029638020807301234,
        0.2387516216721407
      ],
      "shoe_position": [
        0.32004887143382094,
        -0.13377436927056902,
        -0.00010773877982139277
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0024430907121231085
    },
    {
      "completed_steps": 13810,
      "tcp_position": [
        0.3479748322634425,
        -0.029647608940816476,
        0.23877954684232378
      ],
      "shoe_position": [
        0.3200488714339825,
        -0.13377436927134972,
        -0.00010773877981815783
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0023906044695573675
    },
    {
      "completed_steps": 13820,
      "tcp_position": [
        0.3480173972763671,
        -0.02965687225648277,
        0.23880682179098398
      ],
      "shoe_position": [
        0.3200488714340426,
        -0.1337743692716401,
        -0.00010773877982077348
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0023392572425020705
    },
    {
      "completed_steps": 13830,
      "tcp_position": [
        0.3480590860352982,
        -0.02966582492593986,
        0.23883346274517825
      ],
      "shoe_position": [
        0.32004887143419647,
        -0.1337743692723844,
        -0.00010773877981820676
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0022890236270917824
    },
    {
      "completed_steps": 13840,
      "tcp_position": [
        0.3480999155779321,
        -0.029674480393768524,
        0.23885948548330388
      ],
      "shoe_position": [
        0.3200488714342538,
        -0.13377436927266106,
        -0.00010773877982098897
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.002239878833290047
    },
    {
      "completed_steps": 13850,
      "tcp_position": [
        0.34813990266633377,
        -0.029682851417732116,
        0.23888490534908607
      ],
      "shoe_position": [
        0.32004887143440053,
        -0.13377436927337008,
        -0.000107738779818705
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021917986664936875
    },
    {
      "completed_steps": 13860,
      "tcp_position": [
        0.3481790637880847,
        -0.029690950106716955,
        0.2389097372650859
      ],
      "shoe_position": [
        0.3200488714344551,
        -0.13377436927363368,
        -0.00010773877982144162
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0021447595099555773
    },
    {
      "completed_steps": 13870,
      "tcp_position": [
        0.34821741515766425,
        -0.02969878795650413,
        0.23893399574573748
      ],
      "shoe_position": [
        0.32004887143459493,
        -0.1337743692743091,
        -0.00010773877981932117
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020987383079788284
    },
    {
      "completed_steps": 13880,
      "tcp_position": [
        0.3482549727180487,
        -0.029706375883498504,
        0.23895769490993798
      ],
      "shoe_position": [
        0.3200488714346469,
        -0.13377436927456024,
        -0.00010773877982194597
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020537125498264405
    },
    {
      "completed_steps": 13890,
      "tcp_position": [
        0.3482917521425062,
        -0.029713724256532834,
        0.23898084849320506
      ],
      "shoe_position": [
        0.32004887143478017,
        -0.13377436927520373,
        -0.0001077387798199362
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0020096602543047425
    },
    {
      "completed_steps": 13900,
      "tcp_position": [
        0.34832776883657396,
        -0.02972084292686303,
        0.23900346985941456
      ],
      "shoe_position": [
        0.3200488714348766,
        -0.13377436927566974,
        -0.00010773877981981497
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001966559954974866
    },
    {
      "completed_steps": 13910,
      "tcp_position": [
        0.34836303794019735,
        -0.029727741256452802,
        0.2390255720121397
      ],
      "shoe_position": [
        0.3200488714350036,
        -0.13377436927628353,
        -0.0001077387798186708
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001924390685956627
    },
    {
      "completed_steps": 13920,
      "tcp_position": [
        0.3483975743300208,
        -0.029734428144653786,
        0.23904716760560074
      ],
      "shoe_position": [
        0.32004887143509547,
        -0.1337743692767278,
        -0.00010773877981932896
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018831319682849983
    },
    {
      "completed_steps": 13930,
      "tcp_position": [
        0.34843139262181155,
        -0.029740912053369643,
        0.23906826895524308
      ],
      "shoe_position": [
        0.3200488714352165,
        -0.1337743692773129,
        -0.00010773877981871456
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018427637967900561
    },
    {
      "completed_steps": 13940,
      "tcp_position": [
        0.3484645071730073,
        -0.029747201030793202,
        0.23908888804795667
      ],
      "shoe_position": [
        0.32004887143530414,
        -0.13377436927773617,
        -0.00010773877981963811
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0018032666274664304
    },
    {
      "completed_steps": 13950,
      "tcp_position": [
        0.348496932085371,
        -0.02975330273380065,
        0.23910903655194776
      ],
      "shoe_position": [
        0.32004887143541955,
        -0.1337743692782936,
        -0.00010773877981922284
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001764621365308257
    },
    {
      "completed_steps": 13960,
      "tcp_position": [
        0.34852868120774716,
        -0.02975922444907769,
        0.2391287258262796
      ],
      "shoe_position": [
        0.320048871435503,
        -0.13377436927869685,
        -0.00010773877982018044
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0017268093525778711
    },
    {
      "completed_steps": 13970,
      "tcp_position": [
        0.348559768138904,
        -0.029764973113053157,
        0.2391479669300909
      ],
      "shoe_position": [
        0.3200488714356129,
        -0.13377436927922784,
        -0.00010773877981982642
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001689812357489027
    },
    {
      "completed_steps": 13980,
      "tcp_position": [
        0.34859020623045256,
        -0.029770555330709065,
        0.23916677063150388
      ],
      "shoe_position": [
        0.3200488714356924,
        -0.133774369279612,
        -0.00010773877982074614
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0016536125632823358
    },
    {
      "completed_steps": 13990,
      "tcp_position": [
        0.34862000858983605,
        -0.029775977393328927,
        0.23918514741623664
      ],
      "shoe_position": [
        0.3200488714357971,
        -0.13377436928011788,
        -0.00010773877982040922
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001618192557667885
    },
    {
      "completed_steps": 14000,
      "tcp_position": [
        0.3486491880833765,
        -0.029781245295249642,
        0.2392031074959275
      ],
      "shoe_position": [
        0.32004887143591954,
        -0.13377436928070982,
        -0.0001077387798187115
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015835353226212783
    },
    {
      "completed_steps": 14010,
      "tcp_position": [
        0.34867775733937517,
        -0.029786364749670655,
        0.2392206608161815
      ],
      "shoe_position": [
        0.32004887143601934,
        -0.1337743692811923,
        -0.00010773877981921646
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015496242245119619
    },
    {
      "completed_steps": 14020,
      "tcp_position": [
        0.34870572875125566,
        -0.029791341203578084,
        0.23923781706435157
      ],
      "shoe_position": [
        0.32004887143613603,
        -0.13377436928175662,
        -0.00010773877981835256
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0015164430045484921
    },
    {
      "completed_steps": 14030,
      "tcp_position": [
        0.3487331144807452,
        -0.029796179851830536,
        0.239254585677063
      ],
      "shoe_position": [
        0.3200488714362311,
        -0.13377436928221656,
        -0.00010773877981929076
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014839757695248696
    },
    {
      "completed_steps": 14040,
      "tcp_position": [
        0.34875992646108445,
        -0.029800885650459134,
        0.23927097584748902
      ],
      "shoe_position": [
        0.3200488714363424,
        -0.1337743692827542,
        -0.00010773877981872493
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014522069828560634
    },
    {
      "completed_steps": 14050,
      "tcp_position": [
        0.34878617640026344,
        -0.02980546332922329,
        0.23928699653238814
      ],
      "shoe_position": [
        0.32004887143643307,
        -0.13377436928319236,
        -0.00010773877981975768
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0014211214558864389
    },
    {
      "completed_steps": 14060,
      "tcp_position": [
        0.34881187578427814,
        -0.029809917403466696,
        0.23930265645891316
      ],
      "shoe_position": [
        0.3200488714365391,
        -0.13377436928370454,
        -0.00010773877981930425
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013907043394571705
    },
    {
      "completed_steps": 14070,
      "tcp_position": [
        0.3488370358803949,
        -0.029814252185312806,
        0.23931796413119566
      ],
      "shoe_position": [
        0.3200488714366256,
        -0.13377436928412195,
        -0.00010773877982032999
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013609411157304325
    },
    {
      "completed_steps": 14080,
      "tcp_position": [
        0.3488616677404398,
        -0.02981847179458069,
        0.23933292783673885
      ],
      "shoe_position": [
        0.3200488714367753,
        -0.13377436928484612,
        -0.00010773877981727398
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0013318175901811868
    },
    {
      "completed_steps": 14090,
      "tcp_position": [
        0.34888578220405053,
        -0.02982258016774438,
        0.23934755565253593
      ],
      "shoe_position": [
        0.32004887143685773,
        -0.13377436928524417,
        -0.00010773877981915687
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001303319884075224
    },
    {
      "completed_steps": 14100,
      "tcp_position": [
        0.3489093899019917,
        -0.02982658106843509,
        0.23936185545106517
      ],
      "shoe_position": [
        0.3200488714370005,
        -0.13377436928593445,
        -0.0001077387798169982
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012754344267887428
    },
    {
      "completed_steps": 14110,
      "tcp_position": [
        0.3489325012594124,
        -0.029830478095910024,
        0.2393758349060689
      ],
      "shoe_position": [
        0.32004887143707905,
        -0.13377436928631387,
        -0.00010773877981924189
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012481479486040094
    },
    {
      "completed_steps": 14120,
      "tcp_position": [
        0.34895512649912397,
        -0.02983427469353121,
        0.2393895014981432
      ],
      "shoe_position": [
        0.32004887143721505,
        -0.1337743692869715,
        -0.0001077387798174576
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0012214474736174498
    },
    {
      "completed_steps": 14130,
      "tcp_position": [
        0.3489772756448599,
        -0.029837974156739014,
        0.23940286252014858
      ],
      "shoe_position": [
        0.32004887143728983,
        -0.133774369287333,
        -0.00010773877981973403
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011953203128552492
    },
    {
      "completed_steps": 14140,
      "tcp_position": [
        0.3489989585245229,
        -0.029841579640555182,
        0.23941592508245227
      ],
      "shoe_position": [
        0.3200488714374194,
        -0.13377436928795947,
        -0.00010773877981811112
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001169754057578061
    },
    {
      "completed_steps": 14150,
      "tcp_position": [
        0.34902018477341545,
        -0.029845094166684107,
        0.23942869611800202
      ],
      "shoe_position": [
        0.3200488714374907,
        -0.13377436928830377,
        -0.00010773877982031282
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.001144736572766033
    },
    {
      "completed_steps": 14160,
      "tcp_position": [
        0.3490409638374535,
        -0.029848520630231665,
        0.23944118238724166
      ],
      "shoe_position": [
        0.3200488714376143,
        -0.13377436928890057,
        -0.00010773877981877813
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0011202559907745426
    },
    {
      "completed_steps": 14170,
      "tcp_position": [
        0.34906130497635607,
        -0.029851861806053443,
        0.2394533904828719
      ],
      "shoe_position": [
        0.3200488714376822,
        -0.13377436928922862,
        -0.00010773877982087947
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010963007051601286
    },
    {
      "completed_steps": 14180,
      "tcp_position": [
        0.34908121726681574,
        -0.029855120354753347,
        0.23946532683446234
      ],
      "shoe_position": [
        0.3200488714378485,
        -0.1337743692900325,
        -0.000107738779816863
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010728593646654517
    },
    {
      "completed_steps": 14190,
      "tcp_position": [
        0.34910070960564077,
        -0.02985829882836211,
        0.23947699771292133
      ],
      "shoe_position": [
        0.3200488714379132,
        -0.13377436929034536,
        -0.00010773877981977908
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010499208673608704
    },
    {
      "completed_steps": 14200,
      "tcp_position": [
        0.3491197907128717,
        -0.02986139967570236,
        0.23948840923482395
      ],
      "shoe_position": [
        0.3200488714380717,
        -0.13377436929111172,
        -0.0001077387798166549
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010274743549382158
    },
    {
      "completed_steps": 14210,
      "tcp_position": [
        0.3491384691348704,
        -0.029864425247463633,
        0.2394995673666086
      ],
      "shoe_position": [
        0.3200488714381334,
        -0.13377436929140998,
        -0.00010773877981985582
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0010055092071479296
    },
    {
      "completed_steps": 14220,
      "tcp_position": [
        0.34915675324737777,
        -0.029867377801003,
        0.23951047792864488
      ],
      "shoe_position": [
        0.3200488714382844,
        -0.1337743692921401,
        -0.00010773877981715285
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009840150363782517
    },
    {
      "completed_steps": 14230,
      "tcp_position": [
        0.3491746512585415,
        -0.029870259504888218,
        0.23952114659917445
      ],
      "shoe_position": [
        0.3200488714383432,
        -0.13377436929242426,
        -0.0001077387798203329
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000962981682370485
    },
    {
      "completed_steps": 14240,
      "tcp_position": [
        0.34919217121191054,
        -0.029873072443192948,
        0.23953157891813254
      ],
      "shoe_position": [
        0.32004887143848704,
        -0.13377436929311978,
        -0.00010773877981781345
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000942399207067224
    },
    {
      "completed_steps": 14250,
      "tcp_position": [
        0.3492093209893975,
        -0.029875818619562938,
        0.2395417802908555
      ],
      "shoe_position": [
        0.32004887143854305,
        -0.13377436929339045,
        -0.00010773877982087059
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0009222578895856858
    },
    {
      "completed_steps": 14260,
      "tcp_position": [
        0.34922610831421025,
        -0.029878499961190096,
        0.2395517559916801
      ],
      "shoe_position": [
        0.32004887143868027,
        -0.13377436929405312,
        -0.00010773877981849606
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000902548221293442
    },
    {
      "completed_steps": 14270,
      "tcp_position": [
        0.34924254075373384,
        -0.02988111832209241,
        0.23956151116741292
      ],
      "shoe_position": [
        0.3200488714387338,
        -0.13377436929431105,
        -0.00010773877982141536
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008832609010930775
    },
    {
      "completed_steps": 14280,
      "tcp_position": [
        0.34925862572239824,
        -0.029883675486923195,
        0.23957105084071756
      ],
      "shoe_position": [
        0.3200488714389129,
        -0.13377436929517672,
        -0.00010773877981668536
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008643868306962789
    },
    {
      "completed_steps": 14290,
      "tcp_position": [
        0.34927437048449345,
        -0.029886173174091465,
        0.23958037991339595
      ],
      "shoe_position": [
        0.3200488714389638,
        -0.1337743692954227,
        -0.00010773877982038221
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008459171100954494
    },
    {
      "completed_steps": 14300,
      "tcp_position": [
        0.34928978215695333,
        -0.029888613038881323,
        0.23958950316956984
      ],
      "shoe_position": [
        0.32004887143913446,
        -0.133774369296248,
        -0.00010773877981655096
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008278430331181651
    },
    {
      "completed_steps": 14310,
      "tcp_position": [
        0.3493048677121029,
        -0.0298909966763726,
        0.23959842527876682
      ],
      "shoe_position": [
        0.320048871439183,
        -0.13377436929648248,
        -0.00010773877982047313
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0008101560830928516
    },
    {
      "completed_steps": 14320,
      "tcp_position": [
        0.3493196339803672,
        -0.029893325624221947,
        0.2396071507989157
      ],
      "shoe_position": [
        0.3200488714393456,
        -0.13377436929726874,
        -0.00010773877981707065
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007928479286163001
    },
    {
      "completed_steps": 14330,
      "tcp_position": [
        0.34933408765294033,
        -0.02989560136529021,
        0.2396156841792542
      ],
      "shoe_position": [
        0.32004887143939176,
        -0.13377436929749212,
        -0.00010773877982092224
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007759104194243546
    },
    {
      "completed_steps": 14340,
      "tcp_position": [
        0.3493482352844193,
        -0.029897825330127376,
        0.2396240297631504
      ],
      "shoe_position": [
        0.3200488714395468,
        -0.1337743692982411,
        -0.00010773877981775206
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007593355823588935
    },
    {
      "completed_steps": 14350,
      "tcp_position": [
        0.3493620832953961,
        -0.029899998899336536,
        0.23963219179084394
      ],
      "shoe_position": [
        0.32004887143959093,
        -0.13377436929845382,
        -0.0001077387798214474
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007431156174305406
    },
    {
      "completed_steps": 14360,
      "tcp_position": [
        0.34937563797501414,
        -0.029902123405811755,
        0.23964017440210353
      ],
      "shoe_position": [
        0.32004887143973876,
        -0.13377436929916736,
        -0.00010773877981843982
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007272428939741184
    },
    {
      "completed_steps": 14370,
      "tcp_position": [
        0.34938890548348517,
        -0.029904200136859394,
        0.23964798163881196
      ],
      "shoe_position": [
        0.3200488714397809,
        -0.13377436929937006,
        -0.00010773877982196294
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0007117099468925079
    },
    {
      "completed_steps": 14380,
      "tcp_position": [
        0.3494018918545653,
        -0.02990623033621046,
        0.23965561744747316
      ],
      "shoe_position": [
        0.32004887143996985,
        -0.1337743693002833,
        -0.00010773877981670689
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006965094729918449
    },
    {
      "completed_steps": 14390,
      "tcp_position": [
        0.3494146029979972,
        -0.02990821520592919,
        0.23966308568164965
      ],
      "shoe_position": [
        0.32004887144000976,
        -0.13377436930047665,
        -0.00010773877982097638
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006816343273969785
    },
    {
      "completed_steps": 14400,
      "tcp_position": [
        0.3494270447019097,
        -0.02991015590827827,
        0.23967039010433105
      ],
      "shoe_position": [
        0.3200488714401898,
        -0.13377436930134726,
        -0.00010773877981661484
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006670775200453762
    },
    {
      "completed_steps": 14410,
      "tcp_position": [
        0.3494392226351787,
        -0.02991205356729103,
        0.23967753439022882
      ],
      "shoe_position": [
        0.32004887144022803,
        -0.13377436930153155,
        -0.00010773877982106206
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006528322122929018
    },
    {
      "completed_steps": 14420,
      "tcp_position": [
        0.3494511423497535,
        -0.029913909270532467,
        0.23968452212800895
      ],
      "shoe_position": [
        0.3200488714403997,
        -0.13377436930236095,
        -0.00010773877981714423
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000638891713555856
    },
    {
      "completed_steps": 14430,
      "tcp_position": [
        0.34946280928294293,
        -0.029915724070600072,
        0.23969135682246684
      ],
      "shoe_position": [
        0.32004887144043603,
        -0.13377436930253653,
        -0.00010773877982148801
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006252494780535567
    },
    {
      "completed_steps": 14440,
      "tcp_position": [
        0.34947422875966017,
        -0.029917498986607182,
        0.23969804189663588
      ],
      "shoe_position": [
        0.3200488714405995,
        -0.13377436930332662,
        -0.00010773877981783542
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0006118991016226113
    },
    {
      "completed_steps": 14450,
      "tcp_position": [
        0.34948540599463856,
        -0.02991923500557464,
        0.23970458069383715
      ],
      "shoe_position": [
        0.3200488714406341,
        -0.13377436930349387,
        -0.00010773877982199561
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005988343185991946
    },
    {
      "completed_steps": 14460,
      "tcp_position": [
        0.3494963460946004,
        -0.029920933083762973,
        0.2397109764796732
      ],
      "shoe_position": [
        0.32004887144079003,
        -0.13377436930424663,
        -0.00010773877981851288
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005860489987787443
    },
    {
      "completed_steps": 14470,
      "tcp_position": [
        0.34950705406039567,
        -0.029922594147923642,
        0.23971723244396606
      ],
      "shoe_position": [
        0.32004887144082295,
        -0.13377436930440598,
        -0.00010773877982247763
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005735371444409163
    },
    {
      "completed_steps": 14480,
      "tcp_position": [
        0.3495175347890995,
        -0.029924219096502,
        0.2397233517026383
      ],
      "shoe_position": [
        0.32004887144101934,
        -0.13377436930535558,
        -0.0001077387798168827
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005612928874458568
    },
    {
      "completed_steps": 14490,
      "tcp_position": [
        0.34952779307607673,
        -0.029925808800774896,
        0.2397293372995492
      ],
      "shoe_position": [
        0.3200488714410508,
        -0.1337743693055075,
        -0.00010773877982156052
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005493104863907342
    },
    {
      "completed_steps": 14500,
      "tcp_position": [
        0.3495378336170069,
        -0.02992736410593326,
        0.2397351922082721
      ],
      "shoe_position": [
        0.32004887144123806,
        -0.13377436930641284,
        -0.00010773877981686071
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005375843238372633
    },
    {
      "completed_steps": 14510,
      "tcp_position": [
        0.349547661009877,
        -0.029928885832133784,
        0.23974091933383077
      ],
      "shoe_position": [
        0.32004887144126803,
        -0.13377436930655773,
        -0.00010773877982166753
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005261089035926606
    },
    {
      "completed_steps": 14520,
      "tcp_position": [
        0.34955727975693474,
        -0.029930374775433168,
        0.23974652151438286
      ],
      "shoe_position": [
        0.32004887144144645,
        -0.13377436930742018,
        -0.00010773877981738614
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005148788480666912
    },
    {
      "completed_steps": 14530,
      "tcp_position": [
        0.3495666942666117,
        -0.029931831708745044,
        0.23975200152285686
      ],
      "shoe_position": [
        0.32004887144147504,
        -0.1337743693075582,
        -0.00010773877982206394
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0005038888956755202
    },
    {
      "completed_steps": 14540,
      "tcp_position": [
        0.349575908855406,
        -0.029933257382723823,
        0.23975736206854975
      ],
      "shoe_position": [
        0.32004887144164507,
        -0.1337743693083798,
        -0.00010773877981805435
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000493133898309925
    },
    {
      "completed_steps": 14550,
      "tcp_position": [
        0.34958492774973704,
        -0.02993465252661939,
        0.2397626057986797
      ],
      "shoe_position": [
        0.3200488714416723,
        -0.13377436930851128,
        -0.00010773877982253226
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00048260881885443146
    },
    {
      "completed_steps": 14560,
      "tcp_position": [
        0.34959375508776175,
        -0.029936017849078126,
        0.23976773529989537
      ],
      "shoe_position": [
        0.3200488714418344,
        -0.13377436930929398,
        -0.0001077387798187325
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00047230872876829886
    },
    {
      "completed_steps": 14570,
      "tcp_position": [
        0.349602394921159,
        -0.02993735403890911,
        0.23977275309974616
      ],
      "shoe_position": [
        0.32004887144186034,
        -0.13377436930941924,
        -0.00010773877982299901
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004622288057186601
    },
    {
      "completed_steps": 14580,
      "tcp_position": [
        0.34961085121688223,
        -0.02993866176581577,
        0.23977766166811282
      ],
      "shoe_position": [
        0.3200488714420624,
        -0.1337743693103965,
        -0.00010773877981719956
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00045236433126544175
    },
    {
      "completed_steps": 14590,
      "tcp_position": [
        0.3496191278588775,
        -0.0299399416810937,
        0.23978246341860007
      ],
      "shoe_position": [
        0.3200488714420872,
        -0.13377436931051595,
        -0.00010773877982214156
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00044271068859949125
    },
    {
      "completed_steps": 14600,
      "tcp_position": [
        0.3496272286497147,
        -0.02994119441639313,
        0.23978716070975697
      ],
      "shoe_position": [
        0.32004887144227984,
        -0.13377436931144762,
        -0.00010773877981719268
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000433263360703415
    },
    {
      "completed_steps": 14610,
      "tcp_position": [
        0.3496351573124182,
        -0.029942420591184495,
        0.2397917558468403
      ],
      "shoe_position": [
        0.3200488714423035,
        -0.13377436931156148,
        -0.00010773877982223317
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00042401792689302273
    },
    {
      "completed_steps": 14620,
      "tcp_position": [
        0.34964291749190507,
        -0.029943620804341913,
        0.23979625108258773
      ],
      "shoe_position": [
        0.32004887144248706,
        -0.133774369312449,
        -0.00010773877981772883
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00041497006233832224
    },
    {
      "completed_steps": 14630,
      "tcp_position": [
        0.3496505127566482,
        -0.029944795639869747,
        0.23980064861870293
      ],
      "shoe_position": [
        0.32004887144250954,
        -0.13377436931255748,
        -0.00010773877982262136
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0004061155351227696
    },
    {
      "completed_steps": 14640,
      "tcp_position": [
        0.34965794660023786,
        -0.029945945666410123,
        0.23980495060704524
      ],
      "shoe_position": [
        0.32004887144268457,
        -0.13377436931340292,
        -0.00010773877981839167
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00039745020437872384
    },
    {
      "completed_steps": 14650,
      "tcp_position": [
        0.3496652224429151,
        -0.029947071437761114,
        0.23980915915081483
      ],
      "shoe_position": [
        0.3200488714427061,
        -0.1337743693135062,
        -0.00010773877982306805
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003889700183126131
    },
    {
      "completed_steps": 14660,
      "tcp_position": [
        0.34967234363307387,
        -0.029948173493369753,
        0.23981327630571117
      ],
      "shoe_position": [
        0.3200488714428728,
        -0.1337743693143117,
        -0.00010773877981905802
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003806710122738237
    },
    {
      "completed_steps": 14670,
      "tcp_position": [
        0.3496793134487372,
        -0.02994925235881579,
        0.23981730408105822
      ],
      "shoe_position": [
        0.3200488714428931,
        -0.13377436931441014,
        -0.00010773877982351283
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00037254930686359954
    },
    {
      "completed_steps": 14680,
      "tcp_position": [
        0.3496861350990048,
        -0.029950308546277924,
        0.2398212444409022
      ],
      "shoe_position": [
        0.32004887144309957,
        -0.1337743693154081,
        -0.00010773877981760516
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003646011060845592
    },
    {
      "completed_steps": 14690,
      "tcp_position": [
        0.3496928117254702,
        -0.029951342554971706,
        0.2398250993050813
      ],
      "shoe_position": [
        0.32004887144311905,
        -0.133774369315502,
        -0.00010773877982270155
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00035682269553423385
    },
    {
      "completed_steps": 14700,
      "tcp_position": [
        0.3496993464036112,
        -0.029952354871573852,
        0.23982887055026575
      ],
      "shoe_position": [
        0.3200488714433158,
        -0.13377436931645337,
        -0.00010773877981762785
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003492104406379932
    },
    {
      "completed_steps": 14710,
      "tcp_position": [
        0.34970574214415395,
        -0.029953345970589254,
        0.23983256001097272
      ],
      "shoe_position": [
        0.3200488714433343,
        -0.13377436931654288,
        -0.00010773877982279436
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.000341760784925378
    },
    {
      "completed_steps": 14720,
      "tcp_position": [
        0.34971200189441043,
        -0.02995431631478108,
        0.23983616948055683
      ],
      "shoe_position": [
        0.32004887144352184,
        -0.13377436931744918,
        -0.0001077387798181699
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003344702483321427
    },
    {
      "completed_steps": 14730,
      "tcp_position": [
        0.3497181285395911,
        -0.029955266355574522,
        0.2398397007121773
      ],
      "shoe_position": [
        0.3200488714435395,
        -0.13377436931753445,
        -0.0001077387798231716
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003273354255394187
    },
    {
      "completed_steps": 14740,
      "tcp_position": [
        0.34972412490408983,
        -0.029956196533367146,
        0.23984315541973614
      ],
      "shoe_position": [
        0.3200488714437182,
        -0.13377436931839784,
        -0.00010773877981881045
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00032035298436355213
    },
    {
      "completed_steps": 14750,
      "tcp_position": [
        0.3497299937527423,
        -0.029957107277868725,
        0.23984653527879402
      ],
      "shoe_position": [
        0.320048871443735,
        -0.1337743693184791,
        -0.00010773877982358898
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0003135196641757049
    },
    {
      "completed_steps": 14760,
      "tcp_position": [
        0.3497357377920624,
        -0.029957999008430245,
        0.23984984192746367
      ],
      "shoe_position": [
        0.32004887144390537,
        -0.13377436931930167,
        -0.00010773877981944523
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00030683227435311606
    },
    {
      "completed_steps": 14770,
      "tcp_position": [
        0.3497413596714516,
        -0.029958872134357956,
        0.23985307696727984
      ],
      "shoe_position": [
        0.3200488714439687,
        -0.1337743693196078,
        -0.00010773877982134333
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00030028769276741076
    },
    {
      "completed_steps": 14780,
      "tcp_position": [
        0.34974686198438576,
        -0.02995972705521419,
        0.23985624196404914
      ],
      "shoe_position": [
        0.32004887144413097,
        -0.13377436932039236,
        -0.00010773877981809308
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00029388286430356934
    },
    {
      "completed_steps": 14790,
      "tcp_position": [
        0.3497522472695786,
        -0.029960564161104982,
        0.23985933844867974
      ],
      "shoe_position": [
        0.3200488714441915,
        -0.13377436932068415,
        -0.00010773877982071837
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00028761479941133607
    },
    {
      "completed_steps": 14800,
      "tcp_position": [
        0.3497575180121196,
        -0.029961383832957742,
        0.2398623679179847
      ],
      "shoe_position": [
        0.3200488714443462,
        -0.13377436932143208,
        -0.00010773877981813161
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00028148057269255687
    },
    {
      "completed_steps": 14810,
      "tcp_position": [
        0.3497626766445925,
        -0.029962186442787416,
        0.23986533183547387
      ],
      "shoe_position": [
        0.32004887144440375,
        -0.13377436932171013,
        -0.00010773877982093038
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00027547732151263254
    },
    {
      "completed_steps": 14820,
      "tcp_position": [
        0.3497677255481686,
        -0.029962972353952486,
        0.23986823163211876
      ],
      "shoe_position": [
        0.32004887144455124,
        -0.1337743693224227,
        -0.00010773877981864011
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002696022446484305
    },
    {
      "completed_steps": 14830,
      "tcp_position": [
        0.34977266705367893,
        -0.029963741921401277,
        0.23987106870710415
      ],
      "shoe_position": [
        0.32004887144460614,
        -0.13377436932268758,
        -0.00010773877982138851
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00026385260096211473
    },
    {
      "completed_steps": 14840,
      "tcp_position": [
        0.3497775034426662,
        -0.029964495491909098,
        0.2398738444285565
      ],
      "shoe_position": [
        0.32004887144474664,
        -0.13377436932336634,
        -0.00010773877981925349
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00025822570810510374
    },
    {
      "completed_steps": 14850,
      "tcp_position": [
        0.3497822369484135,
        -0.02996523340430573,
        0.23987656013425843
      ],
      "shoe_position": [
        0.32004887144479893,
        -0.1337743693236187,
        -0.00010773877982189527
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002527189412504072
    },
    {
      "completed_steps": 14860,
      "tcp_position": [
        0.34978686975695267,
        -0.02996595598969654,
        0.23987921713234445
      ],
      "shoe_position": [
        0.3200488714449328,
        -0.13377436932426534,
        -0.00010773877981988556
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00024732973185212574
    },
    {
      "completed_steps": 14870,
      "tcp_position": [
        0.34979140400805275,
        -0.0299666635716721,
        0.2398818167019781
      ],
      "shoe_position": [
        0.32004887144502975,
        -0.1337743693247336,
        -0.00010773877981976157
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00024205556643348657
    },
    {
      "completed_steps": 14880,
      "tcp_position": [
        0.3497958417961896,
        -0.02996735646651385,
        0.23988436009401448
      ],
      "shoe_position": [
        0.3200488714451574,
        -0.13377436932535036,
        -0.00010773877981861062
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00023689398539826704
    },
    {
      "completed_steps": 14890,
      "tcp_position": [
        0.3498001851714924,
        -0.029968034983389822,
        0.23988684853164732
      ],
      "shoe_position": [
        0.32004887144524974,
        -0.13377436932579687,
        -0.00010773877981926562
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00023184258187131974
    },
    {
      "completed_steps": 14900,
      "tcp_position": [
        0.3498044361406738,
        -0.029968699424543967,
        0.23988928321103806
      ],
      "shoe_position": [
        0.3200488714453713,
        -0.13377436932638487,
        -0.00010773877981864183
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00022689900056295612
    },
    {
      "completed_steps": 14910,
      "tcp_position": [
        0.3498085966679406,
        -0.02996935008548022,
        0.23989166530193076
      ],
      "shoe_position": [
        0.3200488714454594,
        -0.13377436932681025,
        -0.00010773877981956778
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00022206093665758962
    },
    {
      "completed_steps": 14920,
      "tcp_position": [
        0.3498126686758851,
        -0.02996998725513788,
        0.2398939959482553
      ],
      "shoe_position": [
        0.32004887144557537,
        -0.13377436932737044,
        -0.00010773877981914833
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00021732613472630203
    },
    {
      "completed_steps": 14930,
      "tcp_position": [
        0.3498166540463586,
        -0.029970611216062704,
        0.2398962762687094
      ],
      "shoe_position": [
        0.3200488714456592,
        -0.13377436932777564,
        -0.00010773877982011535
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00021269238766543757
    },
    {
      "completed_steps": 14940,
      "tcp_position": [
        0.3498205546213267,
        -0.02997122224457141,
        0.2398985073573341
      ],
      "shoe_position": [
        0.32004887144576966,
        -0.13377436932830922,
        -0.00010773877981976362
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00020815753565510317
    },
    {
      "completed_steps": 14950,
      "tcp_position": [
        0.34982437220370804,
        -0.029971820610911065,
        0.23990069028406935
      ],
      "shoe_position": [
        0.3200488714458496,
        -0.13377436932869527,
        -0.00010773877982069423
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.0002037194651426579
    },
    {
      "completed_steps": 14960,
      "tcp_position": [
        0.3498281085581941,
        -0.029972406579412022,
        0.239902826095301
      ],
      "shoe_position": [
        0.32004887144595495,
        -0.1337743693292037,
        -0.0001077387798203621
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00019937610784721876
    },
    {
      "completed_steps": 14970,
      "tcp_position": [
        0.3498317654120545,
        -0.02997298040863806,
        0.23990491581439205
      ],
      "shoe_position": [
        0.3200488714460781,
        -0.13377436932979858,
        -0.00010773877981865406
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00019512543978494968
    },
    {
      "completed_steps": 14980,
      "tcp_position": [
        0.34983534445592335,
        -0.02997354235152919,
        0.23990696044220178
      ],
      "shoe_position": [
        0.3200488714461784,
        -0.13377436933028347,
        -0.00010773877981915882
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00019096548031794454
    },
    {
      "completed_steps": 14990,
      "tcp_position": [
        0.3498388473445707,
        -0.02997409265554139,
        0.2399089609575938
      ],
      "shoe_position": [
        0.32004887144629574,
        -0.13377436933085057,
        -0.00010773877981828279
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00018689429122110426
    },
    {
      "completed_steps": 15000,
      "tcp_position": [
        0.34984227569765847,
        -0.02997463156278093,
        0.23991091831793027
      ],
      "shoe_position": [
        0.3200488714463914,
        -0.13377436933131281,
        -0.00010773877981922245
      ],
      "contacts": 4,
      "active_contacts": 4,
      "tracking_error_m": 0.00018290997577066615
    }
  ],
  "scope": "Native-versus-WASM deterministic controller/physics parity; not a shoe grasp success benchmark or real-robot validation."
}