incorporate velocity (position differences) -- helps smooth states
incorporate velocity (position differences) -- helps smooth states

sameeptandon/sail-car-log,sameeptandon/sail-car-log,sameeptandon/sail-car-log,sameeptandon/sail-car-log,sameeptandon/sail-car-log,sameeptandon/sail-car-log,sameeptandon/sail-car-log