{
  "scope": "single-joint integrator; position offset; no WBC or physical impulse",
  "offset_time": 3.0,
  "offset_rad": -0.08,
  "cases": {
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        "velocity": -2.750532125294182e-11,
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      "final": {
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        "time": 10.0,
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        "position": 0.22000000000000003,
        "velocity": -0.0,
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    "feedback": {
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        "position": 0.23999999999675828,
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      "final": {
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        "time": 10.0,
        "offset": 0.0,
        "measured_position": 0.3,
        "position": 0.3,
        "velocity": -0.0,
        "absolute_error": 0.0
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  },
  "horizon_trap": {
    "first_plan": {
      "goal": 0.5,
      "velocity": [
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      ],
      "positions": [
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        0.5
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      "kkt": {
        "primal": 4.163336342344337e-17,
        "dual": 0.0,
        "stationarity": 6.938893903907228e-18
      }
    },
    "next_position": 0.46,
    "next_velocity": 0.6000000000000001,
    "next_solve_rejected": true
  }
}