internal_step,post_time_s,completed_step_force_nm,post_state_recomputed_force_nm,momentum_inferred_motor_impulse_nms,post_joint_velocity_rad_s
0,0.0016666666666666668,-6.0,-1.5000000000000018,-0.01,-0.5999999999999999
1,0.0033333333333333335,-1.5000000000000018,-0.7500000000000009,-0.0012500000000000013,-0.6749999999999999
2,0.005,-0.7500000000000009,-0.375,-0.0006250000000000016,-0.7125
3,0.006666666666666667,-0.375,-0.1874999999999991,-0.0003125000000000008,-0.7312500000000001
4,0.008333333333333333,-0.1874999999999991,-0.09375,-0.00015624999999999854,-0.740625
5,0.01,-0.09375,-0.04687500000000089,-7.812499999999927e-05,-0.7453124999999999
6,0.011666666666666667,-0.04687500000000089,-0.0234375,-3.9062500000001485e-05,-0.74765625
7,0.013333333333333334,-0.0234375,-0.011718749999999112,-1.9531250000000742e-05,-0.7488281250000001
8,0.015000000000000001,-0.011718749999999112,-0.005859375,-9.765624999998521e-06,-0.7494140625
9,0.016666666666666666,-0.005859375,-0.002929687500000888,-4.882812499999261e-06,-0.7497070312499999
10,0.018333333333333333,-0.002929687500000888,-0.00146484375,-2.4414062500014807e-06,-0.749853515625
11,0.02,-0.00146484375,-0.0007324218749991118,-1.2207031250007403e-06,-0.7499267578125001
12,0.021666666666666667,-0.0007324218749991118,-0.0003662109375,-6.103515624985198e-07,-0.74996337890625
13,0.023333333333333334,-0.0003662109375,-0.00018310546875088818,-3.051757812492599e-07,-0.7499816894531249
14,0.025,-0.00018310546875088818,-9.1552734375e-05,-1.5258789062648033e-07,-0.7499908447265625
15,0.02666666666666667,-9.1552734375e-05,-4.577636718661182e-05,-7.629394531324016e-08,-0.7499954223632813
16,0.028333333333333335,-4.577636718661182e-05,-2.288818359375e-05,-3.814697265476971e-08,-0.7499977111816406
17,0.030000000000000002,-2.288818359375e-05,-1.1444091797763178e-05,-1.9073486327384856e-08,-0.7499988555908202
18,0.03166666666666667,-1.1444091797763178e-05,-5.7220458984375e-06,-9.5367431655428e-09,-0.7499994277954102
19,0.03333333333333333,-5.7220458984375e-06,-2.8610229483305716e-06,-4.7683715827714e-09,-0.7499997138977051
20,0.034999999999999996,-2.8610229483305716e-06,-1.430511474609375e-06,-2.3841857895353283e-09,-0.7499998569488525
21,0.03666666666666666,-1.430511474609375e-06,-7.152557381928659e-07,-1.1920928947676641e-09,-0.7499999284744262
22,0.03833333333333332,-7.152557381928659e-07,-3.5762786865234375e-07,-5.960464492342038e-10,-0.7499999642372132
23,0.03999999999999999,-3.5762786865234375e-07,-1.7881393343799346e-07,-2.980232246171019e-10,-0.7499999821186066
24,0.04166666666666665,-1.7881393343799346e-07,-8.940696716308594e-08,-1.4901161045817922e-10,-0.7499999910593033
25,0.043333333333333314,-8.940696716308594e-08,-4.470348446972139e-08,-7.450580522908961e-11,-0.7499999955296516
26,0.04499999999999998,-4.470348446972139e-08,-2.2351741790771484e-08,-3.725290446491651e-11,-0.7499999977648258
27,0.04666666666666664,-2.2351741790771484e-08,-1.1175870007207322e-08,-1.8626452232458256e-11,-0.749999998882413
28,0.048333333333333305,-1.1175870007207322e-08,-5.587935447692871e-09,-9.31322426585742e-12,-0.7499999994412064
29,0.04999999999999997,-5.587935447692871e-09,-2.7939686120248552e-09,-4.65661213292871e-12,-0.7499999997206032
30,0.05166666666666663,-2.7939686120248552e-09,-1.3969838619232178e-09,-2.328307916836063e-12,-0.7499999998603016
31,0.053333333333333295,-1.3969838619232178e-09,-6.984910427831892e-10,-1.1641539584180314e-12,-0.7499999999301509
32,0.05499999999999996,-6.984910427831892e-10,-3.4924596548080444e-10,-5.82075128837308e-13,-0.7499999999650754
33,0.05666666666666662,-3.4924596548080444e-10,-1.7462387091882192e-10,-2.91037564418654e-13,-0.7499999999825376
34,0.058333333333333286,-1.7462387091882192e-10,-8.731149137020111e-11,-1.455206325810347e-13,-0.7499999999912689
35,0.05999999999999995,-8.731149137020111e-11,-4.3654857506680855e-11,-7.276031629051736e-14,-0.7499999999956345
36,0.06166666666666661,-4.3654857506680855e-11,-2.1827872842550278e-11,-3.637830777355097e-14,-0.7499999999978172
37,0.06333333333333328,-2.1827872842550278e-11,-1.0914824599694839e-11,-1.8189153886775486e-14,-0.7499999999989085
38,0.06499999999999995,-1.0914824599694839e-11,-5.4569682106375694e-12,-9.096427315095451e-15,-0.7499999999994543
39,0.06666666666666661,-5.4569682106375694e-12,-2.7275959268990846e-12,-4.548213657547726e-15,-0.7499999999997272
40,0.06833333333333327,-2.7275959268990846e-12,-1.3642420526593924e-12,-2.2722564570661543e-15,-0.7499999999998636
41,0.06999999999999994,-1.3642420526593924e-12,-6.830092047493963e-13,-1.1361282285330772e-15,-0.7499999999999317
42,0.0716666666666666,-6.830092047493963e-13,-3.410605131648481e-13,-5.699144859742472e-16,-0.7499999999999659
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46,0.07833333333333325,-4.3520742565306136e-14,-2.1316282072803006e-14,-3.700743415417189e-17,-0.7499999999999979
47,0.07999999999999992,-2.1316282072803006e-14,-9.769962616701378e-15,-1.8503717077085944e-17,-0.749999999999999
48,0.08166666666666658,-9.769962616701378e-15,-5.329070518200751e-15,-7.401486830834378e-18,-0.7499999999999994
49,0.08333333333333325,-5.329070518200751e-15,-3.552713678800501e-15,-3.700743415417189e-18,-0.7499999999999997
50,0.08499999999999991,-3.552713678800501e-15,-8.881784197001252e-16,-3.700743415417189e-18,-0.7499999999999999
51,0.08666666666666657,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
52,0.08833333333333324,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
53,0.0899999999999999,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
54,0.09166666666666656,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
55,0.09333333333333323,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
56,0.09499999999999989,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
57,0.09666666666666655,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
58,0.09833333333333322,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
59,0.09999999999999988,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
60,0.10166666666666654,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
61,0.10333333333333321,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
62,0.10499999999999987,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
63,0.10666666666666653,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
64,0.1083333333333332,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
65,0.10999999999999986,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
66,0.11166666666666653,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
67,0.11333333333333319,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
68,0.11499999999999985,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
69,0.11666666666666652,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
70,0.11833333333333318,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
71,0.11999999999999984,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
72,0.1216666666666665,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
73,0.12333333333333317,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
74,0.12499999999999983,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
75,0.1266666666666665,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
76,0.1283333333333332,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
77,0.12999999999999987,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
78,0.13166666666666654,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
79,0.13333333333333322,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
80,0.1349999999999999,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
81,0.13666666666666658,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
82,0.13833333333333325,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
83,0.13999999999999993,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
84,0.1416666666666666,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
85,0.14333333333333328,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
86,0.14499999999999996,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
87,0.14666666666666664,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
88,0.14833333333333332,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
89,0.15,-8.881784197001252e-16,-8.881784197001252e-16,0.0,-0.7499999999999999
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