{
  "legToJoint": {
    "X": -0.1482492,
    "Y": -0.14110853,
    "Z": -0.43271747
  },
  "jointToFeet": {
    "X": 0.07073316,
    "Y": 0.015330037,
    "Z": 0.014755508
  },
  "rightAngleSample": {
    "timestamp": "2026-03-13T01:21:35.8499935-07:00",
    "Leg2Foot": {
      "position": {
        "X": 3.3270503E-06,
        "Y": 2.0186578E-06,
        "Z": 9.736466E-06
      },
      "rotation": {
        "X": 0.4992907,
        "Y": 0.13476935,
        "Z": 0.85456073,
        "W": 0.04766521,
        "IsIdentity": false
      }
    },
    "madwickDelta": {
      "X": 0.49920115,
      "Y": 0.13505125,
      "Z": 0.8545629,
      "W": 0.04776612,
      "IsIdentity": false
    },
    "gravityInLegFrame": {
      "X": 0.9827479,
      "Y": 0.18475458,
      "Z": -0.00845328
    },
    "gravityInFeetFrame": {
      "X": -0.45559576,
      "Y": -0.12721108,
      "Z": 0.8810504
    }
  }
}